**5. Experiments**

Key algorithms of contour mapping and source seeking were validated in the indoor flight testbed. This testbed was outfitted with the OptiTrack motion capture technology which allows real-time feedback of the position and orientation of moving robots within the flight volume at 120 Hz rate.

The Crazyflie 2.0 by Birtcraze and the DJI Flamewheel 450 are two UAS platforms that were used; Crazyflie is an open source, easily modifiable, light weight quadcopter. Its small size enables validation of the contour mapping algorithm with a virtual source. The DJI Flamewheel 450 was used for validation of the sourceseeking algorithm using a light source of the 1/*R*<sup>2</sup> type. Each Flamewheel platform was equipped with an onboard omnidirectional light sensor. The Crazyflie and Flamewheel platforms with a single board computer mounted under the frame are shown in **Figure 17a** and **Figure 17b**, respectively.
