Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Autonomous Navigation System for a Delivery Drone   The use of delivery services is an increasing trend worldwide, further
enhanced by the COVID pandemic. In this context, drone delivery systems are of
great interest as they may allow for faster and cheaper deliveries. This paper
presents a navigation system that makes feasible the delivery of parcels with
autonomous drones. The system generates a path between a start and a final
point and controls the drone to follow this path based on its localization
obtained through GPS, 9DoF IMU, and barometer. In the landing phase,
information of poses estimated by a marker (ArUco) detection technique using a
camera, ultra-wideband (UWB) devices, and the drone's software estimation are
merged by utilizing an Extended Kalman Filter algorithm to improve the landing
precision. A vector field-based method controls the drone to follow the desired
path smoothly, reducing vibrations or harsh movements that could harm the
transported parcel. Real experiments validate the delivery strategy and allow
to evaluate the performance of the adopted techniques. Preliminary results
state the viability of our proposal for autonomous drone delivery.

18
The categories of this paper are: econ
10
The categories of this paper are: q-bio
29
The categories of this paper are: funct-an
2
The categories of this paper are: math
31
The categories of this paper are: ao-sci
9
The categories of this paper are: nlin
34
The categories of this paper are: chem-ph
25
The categories of this paper are: patt-sol
12
The categories of this paper are: nucl-th
17
The categories of this paper are: q-fin
20
The categories of this paper are: acc-phys
13
The categories of this paper are: quant-ph
21
The categories of this paper are: adap-org
3
The categories of this paper are: physics
7
The categories of this paper are: hep-th
22
The categories of this paper are: chao-dyn