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Additional info for Aerial Vehicles (2009)
In IEEE International Conference on Robotics and Automation, pp. 116-121. ; Inaba, M. & Inoue, H. (2001). Plane segment finder: Algorithm, implementation and applications. In IEEE International Conference on Robotics and Automation, pp. 2120-2125, Seoul. ; Scholz, J. & Elfes, A. (2000). Tracking multiple moving objects for real-time robot navigation. Autonomous Robots, Vol. 8, No. 2, pp. 105-116. ISSN 0929-5593. Ramer, U. (1972). An iterative procedure for the polygonal approximation of plane curves.
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These devices are user-programmable gate arrays with various configurable elements. The programmable device is comprised of I/O blocks and internal configurable logic blocks. Programmable I/O blocks provide the interface between package pins and the inside configurable logic. The internal configurable logic includes elements organized in a regular array: configurable logic blocks (CLB) provide functional elements for combinatorial and synchronous logic, including basic storage elements; memory modules provide large storage elements of single or dualport; Multiplier blocks integrating adder and accumulator (MAC); digital clock managers provide self-calibrating, fully digital solutions for clock distribution delay compensation, clock multiplication and division, coarse- and fine-grained clock phase shifting.