The applications of unmanned aerial systems have dramatically increased in the late days, in particular within dull, dirty and dangerous missions, where it has been clearly shown that unmanned systems are better suited than manned aircrafts. The reduction of human involvements leads to an increasing demand for autonomous and operationally adaptive airborne systems. In addition, unmanned aerial systems share similar limitations with most computer embedded systems, e.g., limited space and power resources, and increasing computation requirements and complexity of the applications running onboard. To fulfill these requirements and achieve the fundamental features of autonomy and adaptability, the AREIOM—Adaptive Research Multicopter Platform—along with its layered modular architecture and the specific details of its underlying hardware and software components are presented.
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