Meet the DelFly Nimble: a tailless flapping wing robot that uses a single small camera and tiny processor to fly autonomously. This drone weighs around 30g. It has a VL53L0X range sensor, ESP8266 WiFi module, and a vision system consisting of a monocular camera and STM32F4 microprocessor.
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A Tailless Flapping Wing MAV Performing Monocular Visual Servoing Tasks
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