Ultralow-Power Localization of Insect-Scale Drones: Interplay of Probabilistic Filtering and Compute-in-Memory

We propose a novel compute-in-memory (CIM)-based ultralow-power framework for probabilistic localization of insect-scale drones. Localization is a critical subroutine for path planning and rotor control in drones, where a drone is required to continuously estimate its pose (position and orientation) in flying space. The conventional probabilistic localization approaches rely on the 3-D Gaussian mi...