The aerial subsystem consists of hardware and software components as shown below

• Hardware
  • Sensor suite
  • Onboard Computer
  • Onboard Power Module
• Software
  • Dynamics Model
  • LIDAR Perception
  • Backend Algorithms for Bird’s Eye View Coloring, Sound Warnings and Emergency Braking

The full aerial subsystem with the payload is shown below:

The software architecture is shown in the below flow diagram