deletions | additions       diff --git a/DeclareMathOperator_argmin_arg_min_DeclareMathOperator__1.tex b/DeclareMathOperator_argmin_arg_min_DeclareMathOperator__1.tex  index 684b109..0fc98df 100644  --- a/DeclareMathOperator_argmin_arg_min_DeclareMathOperator__1.tex  +++ b/DeclareMathOperator_argmin_arg_min_DeclareMathOperator__1.tex 
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In a first setting, the commercially available Parrot AR.Drone2.0 was  equipped with an Odroid XU-4 single board computer, a Logitech 525 HD  webcam, a WiFi module. Figure~\ref{fig:comparison} shows the setup. Camera The camera  images were processed on the more powerful Odroid processor and the resulting $x,y$-estimates were send sent  over a USB data link to the MAV flight controller.to send and receive data between  the two processors.  The Odroid processor has a full operating system (Ubuntu 15.04) and allows for running arbitrary Linux software.  However, the additional weight through the modifications of the system, system  resulted in unstable flight performance. Therefore, we modified the system to execute the localization algorithm directly on board of the MAV and not on the additional Odroid processor. To this end, the software had to be ported from the the high-level language Python to the low-level language C without being able to rely on many  existing software libraries.  Finally, this removed the need for additional payload and made flight performance