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A low-cost vision-based unmanned aerial system for extremely low-light GPS-denied navigation and thermal imaging

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Figure

Fig. 1: The prototype quadrotor UAV.
Fig. 2 also shows that the quadrotor has the cross configuration with four motors numbered 1–4, with spinning directions as indicated.
Fig. 4: Overview of the nonlinear controller.
TABLE I: Platform details.
+4

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