Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications

Table 7

Specifications of the tracking module and the aerial platforms employed in the experiments.

Tracking module			Aerial platform
Tracking algorithm	Algorithm	Modified CAMShift	Model	AscTec Hummingbird
	Update rate	20–25 FPS
Camera	Model	Logitech C525	Max. payload	200 grams
	Resolution	640 × 480 pixels
	Weight	40 grams	Flight time	20 min (with payload)
	Cost	~60 $
Computer board	Model	Odroid U3	Max speed	15 m/s horizontal; 5 m/s vertical
	Processor/Memory	4 × 1.7 GHz/; eMMC 16 GB
	Weight	50 grams	Wireless band	2.4 GHz
	Cost	~100 $