This post gives a detailed description of how the Skydio drone takes reams of incoming data to figure out where it is, and where to go to safely and optimally track an object in real time.
At a rate of 500 times per second, the autonomy engine refines its flight plan by considering over forty objectives that balance smooth flight, effective tracking, image framing, obstacles, aerodynamics, power constraints, and many other factors.
https://medium.com/skydio/inside-the-mind-of-the-skydio-2-b1b78aa6dfa7
This video superimposes what the navigation computer sees when trying to avoid obstacles.
https://youtu.be/Yku8hujfA1Q
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