As part of the DCIST effort, Avraham Cohen and C.J. Taylor are working on the design of an autonomous aerial vehicle that can serve as one of the testbeds for DCIST capabilities. A prototype of this platform is shown in the photo. The system is designed to support lidar based mapping, an stereo vision system, a mesh networking wireless subsystem and significant amounts of onboard computation. This system will support experiments in GPS denied environments where multiple platforms need to collaborate on exploration and surveillance tasks with limited wireless communication links.