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Bipartite guidance, navigation and control architecture for autonomous aerial inspections under safety constraints

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Figure

Fig. 1: General Scheme of the software setup.
Fig. 2: Flow diagram of the functional blocks composing the on-board software segment
Fig. 3: Snapshot of the Simulink implementation of the GNC algorithm.
Fig. 4: Reference frames used in the guidance, navigation and control algorithm. a. TheLatitude-Longitude (LL) system; b
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