Our final system consists of 3 major subsystems. These are:

• Aerial subsystem – A DJI Matrice 100 mounted with Velodyne VLP-16 LIDAR , FPV camera, Jetson TX2 onboard computer and CC BEC 2.0 (power distribution board).
• User subsystem – The Augmented Reality headset Epson BT 300 and another audio headset for sound warnings.
• Communication subsystem (COTS)– Unifi AC-M wifi router and UMA-D Directional antenna. The directional antenna is pointed manually while flying the quad.