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The quad applies controlls to its motors which make it go or turn.
There is a position sensor on the side which scans the area searching for the quad and then reports its position to the controlling computer.
The controlling computer receives the position and publishes waypoints which the quad tries to follow.
Other notes
This application uses a number of different libraries, including plotting from arity-calculator, which is licensed under the Apache License, Version 2.0. We have made several improvements to their code and intend to submit our patches upstream.
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