Insect-scale MAVs (50-500 mg) are envisioned for many applications, including hazardous environment exploration and assisted agriculture. However, flight at this scale poses a control challenge for stability, as rotational acceleration increases with a decrease in the vehicle's characteristic length, scaling as l~(-1) [15]. The vehicle's flight dynamics are also unstable, requiring the flight controller to perform continuous corrective maneuvers [1]. Therefore, in addition to meeting the stringent mass and power requirements for vehicles at this scale, onboard sensors must also provide low latency, high bandwidth information to the active controller.
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