Before revision:  DART uses careful trajectory design to find a sweet spot in this constraint space, a fast reconnaissance flight to narrow the search area for structures, and offloads expensive computations to the cloud by streaming compressed LiDAR data over LTE.
After revision:  ARES uses careful trajectory design to find a sweet spot in this constraint space, a fast reconnaissance flight to narrow the search area for structures, and offloads expensive computations to the cloud by streaming compressed LiDAR data over LTE.