MIRA是低成本可定制室内微无人机，支持快速改装与自主飞行测试。
MIRA: A Modular Open-Source Micro-UAV for Indoor Research
- 采用3D打印机身与容器化软件，实现模块化替换与低层访问。
- 通信延迟中位数仅0.02毫秒，动态飞行时振动稳定在安全阈值内。
- 适合需要灵活改装的实验室，尤其适合开展自主导航研究。
室内机器人研究日益依赖可修改的微型无人机平台，但市售平台常缺乏底层访问权限，自研又需大量前期工程投入，限制了研究范围。我们提出MIRA（模块化室内研究架构），一种低成本、开源的室内微无人机，基于可复制的3D打印PLA机架和容器化的低层软件包，通过Micro XRCE-DDS实现伴侣设备与飞控间的通信桥接。作为白盒设计，核心子系统可独立更换而无需重写固件，支持本地制造及利用现有实验库存组件。通过光学运动捕捉空间内的自主飞行测试，验证了起飞、轨迹跟踪、悬停和降落等序列。通信链路的中位伴侣-飞控延迟为0.02毫秒，时域分析显示动态机动中结构振动水平稳定且处于飞控安全阈值内。
原文摘要 · Abstract (English)
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.
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