An IoT-Enabled Modular Quadrotor Architecture for Real-Time Aerial Object Tracking

This paper presents a modular and extensible quad rotor architecture and its specific prototyping for automatic tracking applications. The architecture is extensible and based on off-the-shelf components for easy system integration while maintaining constant connectivity with the IoT. A target tracking and acquisition application is presented in detail to demonstrate the power and flexibility of the proposed design. Complete design details of the platform are also presented. The designed module implements basic PID control and a custom target acquisition algorithm. Details of the sliding-window based algorithm are also presented. This algorithm performs 20X faster than comparable approaches in OpenCV with equal accuracy. Additional modules can be integrated for more complex applications, such as search-and-rescue, automatic object tracking, and traffic congestion analysis.