Architecture

The architecture of BMB merges ultra-miniature hardware design with intelligent edge-based software to create a fully autonomous and adaptive micro-drone. Its bio-inspired mechanics follow insect-scale aerodynamics, where oscillatory thrust and lift forces are described by:

$$L = \frac{1}{2} \rho S U^2 C_L(\alpha, f, A)$$

These dynamics are governed by nonlinear unsteady flows, as characterized by [Dickinson et al., 1999], and require real-time control using PID or model-based control loops:

$$u(t) = K_p e(t) + K_i \int_0^t e(\tau) d\tau + K_d \frac{de(t)}{dt}$$

Onboard sensor fusion is handled via an Extended Kalman Filter (EKF), allowing for robust state estimation:

$$\hat{x}_k = \hat{x}_{k-1} + K_k (z_k - H_k \hat{x}_{k-1})$$

This architectural fusion of flapping-wing biomechanics and real-time AI processing enables BMB to operate autonomously even in cluttered, GPS-denied indoor environments.