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In this paper, are presented the general architecture and implementation of a multi-task distributed vision system designed and embedded onboard a Hex-Rotorcraft UAV. The system uses multiple cheap heterogeneous cameras in order to perform various tasks such as: ground target pedestrian detection, tracking, creating panoramic images, video stabilization and streaming multiple data/video feeds over a wireless secure channel. In what follows, are discussed this multiagent architecture designed todoi:10.14569/ijacsa.2016.071016 fatcat:524daqpj6ffmjnmmm5eyyq2rc4