MIRA：一种用于室内研究的模块化开源微型无人机
MIRA: A Modular Open-Source Micro-UAV for Indoor Research
- University of São Paulo (USP)（圣保罗大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
该研究针对室内机器人研究中微型无人机缺乏开放可改特性的问题，提出开源微型无人机MIRA，其采用白盒架构，围绕特定机身和软件包构建，核心子系统可单独更换，经飞行测试验证其通信延迟低、振动能量分布合理，为室内研究提供便利。
AI中文摘要：
室内机器人研究越来越依赖微型无人机，其机身、电子设备和控制软件需完全开放以供修改。现成平台很少能提供此类修改所需的底层访问权限，而定制替代方案通常在飞行测试前需要大量工程工作。我们提出了MIRA（模块化室内研究架构），这是一种用于室内研究的低成本、开源微型无人机，围绕可复制的3D打印PLA机身和通过Micro XRCE-DDS管理从机与自动驾驶仪通信桥接的容器化底层软件包构建。设计为白盒架构，核心子系统无需固件重构即可单独更换，支持本地制造和从现有实验室库存中替换组件。我们通过在光学运动捕捉空间内以位置控制模式进行手动飞行来表征MIRA，通信管道的从机与自动驾驶仪延迟中位数为0.02毫秒，功率谱密度分析证实结构振动能量集中在90至110赫兹的窄带内。
英文摘要：
Indoor robotics research increasingly uses micro-UAV platforms whose airframes, electronics, and control software are open to modification. Off-the-shelf platforms often lack the low-level access required for such modifications, while building a custom alternative requires initial engineering effort before flight testing can begin, leaving many laboratories to work within constraints that limit the scope of their research. We present MIRA (Modular Indoor Research Architecture), a low-cost, open-source micro-UAV for indoor research, built around a replicable 3D-printed PLA airframe and a containerized low-level software package that manages the companion-to-autopilot communication bridge via Micro XRCE-DDS. Designed as a white-box architecture, core subsystems are individually replaceable without firmware refactoring, supporting local fabrication and component substitution from existing lab inventory. We characterize MIRA through autonomous flight evaluations, including sequences of takeoff, trajectory tracking, hovering, and landing, within an optical motion-capture volume. The communication pipeline sustains a median companion-to-autopilot latency of 0.02 ms, and time-domain analysis shows that structural vibration levels remain stable and within recommended autopilot safety thresholds during dynamic maneuvers.
