# Oya Domain Proposal: AI-Controlled Drone & Swarm Management Platform

> **Proposed Domain Name**: Oya (Yoruba goddess of wind, storms, and
> transformation) **Scope**: scope:oya **Type**: Platform Capability Domain
> **Date**: January 2026

---

## Executive Summary

Oya is proposed as a new **platform capability domain** for the Oshun monorepo,
providing comprehensive AI-controlled drone and swarm management capabilities.
Like Aja (motion intelligence), Bellona (engine bridges), and Isis (generative
factory), Oya would be consumed by product domains (Lilith, Yemaya, Aphrodite)
rather than being a standalone product itself.

The domain encompasses:

- Multi-drone coordination and swarm intelligence
- AI-powered autonomous cinematography
- Indoor/outdoor navigation systems
- Real-time pose estimation integration for human tracking
- Hardware abstraction for multiple drone platforms
- Sensor fusion and edge AI processing

---

## 1. Domain Name Rationale

### Oya (Òyá)

In Yoruba mythology, Oya is the powerful goddess of wind, storms, lightning, and
transformation. She is one of the most formidable orishas, associated with:

- **Wind and Air** - Commands the winds, from gentle breezes to fierce storms
- **Lightning and Thunder** - Swift, powerful, and precise
- **Transformation** - Goddess of change and adaptation
- **Guardian of the Dead** - Protector during transitions

**Why Oya fits**:

- **Thematically aligned with flight** - As goddess of wind, she embodies aerial
  movement
- **Yoruba mythology consistency** - Matches existing Oshun domains (Yemaya, Aja
  are also Yoruba)
- **Swift and adaptive** - Perfect for AI-powered autonomous systems
- **Transformation aspect** - Reflects the transformative nature of drone
  technology
- **Storm coordination** - Multiple forces working together, like drone swarms
- **Female deity** - Maintains the naming convention of Oshun domains

---

## 2. Core Capabilities

### 2.1 Flight Control & Navigation

| Capability         | Technology                           | Description                           |
| ------------------ | ------------------------------------ | ------------------------------------- |
| GPS Navigation     | RTK-GPS, GNSS multi-constellation    | Centimeter-level outdoor positioning  |
| Indoor Positioning | UWB (10cm accuracy), VIO, SLAM       | GPS-denied environment navigation     |
| Visual SLAM        | ORB-SLAM3, Isaac ROS VSLAM           | Real-time 3D mapping and localization |
| Obstacle Avoidance | ToF sensors, stereo depth, AI vision | 360-degree collision prevention       |
| Path Planning      | A\*, RRT, MPC-based trajectories     | Optimal route computation             |

### 2.2 Swarm Coordination

| Capability          | Algorithm                                           | Description                       |
| ------------------- | --------------------------------------------------- | --------------------------------- |
| Collision Avoidance | ORCA (Optimal Reciprocal Collision Avoidance)       | Multi-agent collision-free motion |
| Formation Control   | Reynolds flocking (separation, alignment, cohesion) | Coordinated swarm behavior        |
| Task Allocation     | SARG, Hybrid DRL + Distributed Optimization         | Optimal mission assignment        |
| Communication       | MAVLink protocol, mesh networking                   | Inter-drone data exchange         |
| Consensus           | Federated learning architecture                     | Distributed decision making       |

### 2.3 AI Cinematography

| Capability                | Technology                   | Description                         |
| ------------------------- | ---------------------------- | ----------------------------------- |
| Subject Tracking          | YOLO11-Pose, Skydio Shadow   | Real-time human/object following    |
| Shot Composition          | CineMPC, rule of thirds      | Autonomous framing decisions        |
| Multi-Camera Coordination | MAPF algorithms              | Multiple drone viewpoint management |
| Cinematic Path Planning   | B-spline/Bezier trajectories | Smooth, professional camera moves   |
| KeyFrame Animation        | AI-generated transitions     | Complex camera path automation      |

### 2.4 Sensor Integration

| Sensor Type   | Examples                     | Use Cases                      |
| ------------- | ---------------------------- | ------------------------------ |
| RGB Cameras   | 4K-8K, 100MP sensors         | Video capture, photography     |
| Thermal/IR    | FLIR Boson+, radiometric     | Night operations, inspection   |
| Depth Sensors | Intel RealSense, ToF         | Obstacle detection, 3D mapping |
| LiDAR         | Ouster OS0, Velodyne         | High-precision mapping         |
| Audio         | Beamforming arrays, speakers | Two-way communication          |
| IMU/GPS       | 9-axis, multi-constellation  | Positioning, orientation       |

### 2.5 Pose Estimation Integration

| Capability        | Algorithm                       | Description                   |
| ----------------- | ------------------------------- | ----------------------------- |
| 2D Pose Detection | MediaPipe, YOLO11-Pose, RTMPose | Real-time keypoint extraction |
| 3D Reconstruction | SMPL, SKEL, HMR2.0              | Full body mesh recovery       |
| Multi-View Fusion | SelfPose3d, voxel-based methods | Multi-drone 3D analysis       |
| Form Analysis     | Joint angle calculation         | Fitness/yoga/sports coaching  |
| Gait Analysis     | 3DGait, spatiotemporal metrics  | Movement pattern analysis     |

### 2.6 Edge AI Processing

| Platform           | Performance   | Use Case                       |
| ------------------ | ------------- | ------------------------------ |
| NVIDIA Jetson Orin | 275 TOPS      | High-end autonomous operations |
| NVIDIA Jetson Thor | 2,070 TFLOPS  | Next-gen AI processing         |
| Qualcomm QRB5165   | 15 TOPS       | 5G-connected drones            |
| ModalAI VOXL 2     | 15+ TOPS, 16g | Lightweight autonomous flight  |

---

## 3. Library Architecture

```
libs/oya/
├── core/
│   ├── types/                    # Core type definitions
│   ├── constants/                # Physical constants, limits
│   ├── utils/                    # Common utilities
│   └── errors/                   # Domain-specific errors
│
├── flight-control/
│   ├── kinematics/               # Drone physics, dynamics
│   ├── attitude-control/         # Orientation management
│   ├── velocity-control/         # Speed regulation
│   └── mission-execution/        # Waypoint following
│
├── navigation/
│   ├── gps/                      # GNSS positioning
│   ├── indoor-positioning/       # UWB, VIO, motion capture
│   ├── visual-slam/              # ORB-SLAM, RTAB-Map integration
│   ├── path-planning/            # A*, RRT, trajectory optimization
│   └── obstacle-avoidance/       # Sensor fusion, collision prevention
│
├── swarm/
│   ├── coordination/             # Multi-agent coordination
│   ├── formation/                # Formation flying algorithms
│   ├── task-allocation/          # Mission distribution
│   ├── consensus/                # Distributed agreement
│   └── communication/            # Inter-drone messaging
│
├── cinematography/
│   ├── shot-planning/            # Composition algorithms
│   ├── subject-tracking/         # Person/object following
│   ├── trajectory-optimization/  # Smooth path generation
│   ├── multi-camera/             # Multi-drone coordination
│   └── streaming/                # Real-time video streaming
│
├── sensors/
│   ├── camera/                   # RGB, thermal, depth cameras
│   ├── lidar/                    # LiDAR integration
│   ├── imu/                      # Inertial measurement
│   ├── gps/                      # GNSS receivers
│   ├── audio/                    # Microphones, speakers
│   └── fusion/                   # Multi-sensor fusion
│
├── pose-estimation/
│   ├── detection/                # 2D pose detection
│   ├── reconstruction/           # 3D body reconstruction
│   ├── multi-view/               # Multi-camera fusion
│   ├── tracking/                 # Temporal tracking
│   └── analysis/                 # Form analysis, metrics
│
├── hardware-abstraction/
│   ├── dji/                      # DJI MSDK, OSDK, PSDK adapters
│   ├── px4/                      # PX4 autopilot integration
│   ├── ardupilot/                # ArduPilot integration
│   ├── mavlink/                  # MAVLink protocol
│   └── generic/                  # Abstract interfaces
│
├── edge-ai/
│   ├── inference/                # Model inference runtime
│   ├── optimization/             # Quantization, pruning
│   ├── models/                   # Pre-trained models
│   └── deployment/               # Edge deployment utilities
│
├── safety/
│   ├── geofencing/               # Virtual boundaries
│   ├── emergency/                # Failsafe procedures
│   ├── human-aware/              # Social navigation
│   └── compliance/               # Regulatory compliance
│
├── telemetry/
│   ├── collection/               # Real-time data gathering
│   ├── streaming/                # Live telemetry broadcast
│   ├── logging/                  # Flight data recording
│   └── analysis/                 # Post-flight analysis
│
├── simulation/
│   ├── gazebo/                   # Gazebo integration
│   ├── airsim/                   # AirSim integration
│   ├── jmavsim/                  # jMAVSim integration
│   └── physics/                  # Physics simulation
│
├── client/                       # TypeScript SDK for consumers
├── database/                     # Flight logs, telemetry storage
└── event-handlers/               # Event bus integration
```

**Estimated Library Count**: 45-55 libraries

---

## 4. Integration with Existing Domains

### 4.1 Integration Matrix

| Domain        | Oya Provides         | Domain Provides                 | Integration Pattern                                     |
| ------------- | -------------------- | ------------------------------- | ------------------------------------------------------- |
| **Aja**       | Drone camera feeds   | Pose estimation, motion capture | Oya sends video → Aja processes → returns skeleton data |
| **Aphrodite** | Multi-angle capture  | Streaming infrastructure        | Oya provides camera positions → Aphrodite streams       |
| **Lilith**    | Meditation flyovers  | Experience orchestration        | Lilith triggers missions → Oya executes                 |
| **Yemaya**    | Cinematography shots | Scene composition               | Yemaya defines shots → Oya plans paths                  |
| **Isis**      | Raw video feeds      | AI enhancement, thumbnails      | Oya captures → Isis processes                           |
| **Sophia**    | Flight data          | Learning, recommendations       | Oya logs → Sophia optimizes                             |
| **Bellona**   | Real-time position   | Engine visualization            | Oya publishes → Bellona renders                         |

### 4.2 Detailed Integration Scenarios

#### Aphrodite + Oya: Multi-Angle Performer Capture

```
Aphrodite (Live Streaming Platform)
        │
        ├── Requests: "Capture performer from 4 angles"
        │
        ▼
Oya (Drone Swarm)
        │
        ├── Coordinates 4 drones in formation
        ├── Tracks performer using pose estimation
        ├── Maintains cinematic framing
        │
        ▼
    ┌───┴───┐
    │       │
    ▼       ▼
  Aja     Aphrodite
(Pose)   (Streaming)
```

#### Lilith + Oya: Fitness Form Analysis

```
Lilith (Wellness Platform)
        │
        ├── User starts yoga session
        │
        ▼
Oya (Drone Controller)
        │
        ├── Positions drone for optimal view
        ├── Captures multi-angle video
        │
        ▼
Aja (Motion Analysis)
        │
        ├── Extracts 33 body keypoints
        ├── Calculates joint angles
        │
        ▼
Lilith (Feedback)
        │
        └── Provides real-time form corrections
```

#### Yemaya + Oya: Cinematic Production

```
Yemaya (Production Studio)
        │
        ├── Director specifies shot sequence
        │
        ▼
Oya (Cinematography)
        │
        ├── Plans optimal camera paths
        ├── Executes with B-spline trajectories
        ├── Coordinates multi-drone shots
        │
        ▼
    ┌───┴───┐
    │       │
    ▼       ▼
  Isis    Bellona
(Process) (Preview)
```

### 4.3 Dependency Rules

```
# Oya CAN depend on:
- @oshun/* (shared foundation)
- @aja/* (motion capture, pose estimation)
- @sophia/* (learning, recommendations)

# Oya CANNOT depend on:
- @lilith/* (product domain)
- @yemaya/* (product domain)
- @aphrodite/* (product domain)

# Products CAN consume Oya via:
- gRPC/REST APIs
- Event bus subscriptions
- TypeScript client SDK
```

---

## 5. Hardware Platform Support

### 5.1 Consumer/Prosumer Drones

| Platform        | Integration | SDK        | Capabilities                  |
| --------------- | ----------- | ---------- | ----------------------------- |
| DJI Mavic 4 Pro | Full        | MSDK V5    | 100MP, 6K video, 51min flight |
| DJI Mini 5 Pro  | Partial     | MSDK V5    | LiDAR, <250g, 45min flight    |
| Skydio X10      | Full        | Skydio SDK | NightSense, FLIR thermal      |
| Autel EVO II    | Full        | Autel SDK  | 6K video, 40min flight        |

### 5.2 Enterprise/Professional Drones

| Platform        | Integration | SDK        | Capabilities                 |
| --------------- | ----------- | ---------- | ---------------------------- |
| DJI Inspire 3   | Full        | OSDK       | 8K cinema, full-frame        |
| DJI Matrice 400 | Full        | OSDK/PSDK  | 59min, LiDAR payloads        |
| Freefly Alta X  | Full        | PX4        | 35lb payload, cinema cameras |
| Skydio X10D     | Full        | Skydio SDK | NDAA compliant, government   |

### 5.3 Indoor/Development Drones

| Platform           | Integration | SDK        | Capabilities            |
| ------------------ | ----------- | ---------- | ----------------------- |
| ModalAI Starling 2 | Full        | PX4/MAVSDK | VIO, SLAM, 280g         |
| Crazyflie          | Full        | cflib      | 27g, research, swarms   |
| HOVERAir X1        | Partial     | -          | 125g, autonomous selfie |
| Ring Always Home   | Monitor     | -          | Indoor security         |

### 5.4 Custom/Open-Source

| Platform         | Integration | SDK               | Capabilities      |
| ---------------- | ----------- | ----------------- | ----------------- |
| PX4-based        | Full        | MAVSDK, ROS 2     | Customizable      |
| ArduPilot-based  | Full        | DroneKit, MAVLink | Community support |
| Pixhawk hardware | Full        | MAVLink           | Industry standard |

---

## 6. Use Cases by Oshun Domain

### 6.1 Aphrodite Integration

| Use Case                            | Description                                        | Drones | Key Features                          |
| ----------------------------------- | -------------------------------------------------- | ------ | ------------------------------------- |
| **Multi-Angle Performance Capture** | Stream performer from multiple simultaneous angles | 2-8    | Synchronized video, subject tracking  |
| **360-Degree Environment**          | Create immersive viewing experience                | 4+     | Formation flying, coordinated cameras |
| **Interactive Drone Responses**     | Drones react to tips/engagement                    | 1-4    | Event-driven commands, LED effects    |
| **VR/AR Capture**                   | Stereo capture for VR viewing                      | 2      | Synchronized stereo, depth data       |

### 6.2 Lilith Integration (Wellness/Meditation)

| Use Case                       | Description                      | Drones | Key Features                             |
| ------------------------------ | -------------------------------- | ------ | ---------------------------------------- |
| **Yoga/Fitness Form Checking** | Real-time posture feedback       | 1-3    | Pose estimation, multi-view analysis     |
| **Workout Recording**          | Automatic exercise documentation | 1-2    | Subject tracking, shot variety           |
| **Mirror Replacement**         | Drone with display shows user    | 1      | Screen display, positioning              |
| **Movement Coaching**          | AI-powered form correction       | 2-4    | Multi-angle analysis, real-time feedback |

### 6.3 Yemaya Integration (Production)

| Use Case                 | Description                     | Drones | Key Features                        |
| ------------------------ | ------------------------------- | ------ | ----------------------------------- |
| **Cinematic Capture**    | Professional film-quality shots | 1-4    | 8K cameras, cinematic paths         |
| **Virtual Production**   | Real-time tracked shots         | 1-2    | RTK positioning, Unreal integration |
| **Documentary Coverage** | Multi-subject tracking          | 4-8    | AI subject selection, formation     |
| **Motion Reference**     | Actor movement capture          | 2-6    | Multi-view pose estimation          |

### 6.4 Fashion/Styling Application

| Use Case                 | Description                   | Drones | Key Features                   |
| ------------------------ | ----------------------------- | ------ | ------------------------------ |
| **Wardrobe Scanning**    | 3D closet inventory           | 1      | RGB-D scanning, cataloging     |
| **Full-Body Assessment** | 360-degree body measurement   | 2-4    | Photogrammetry, AI measurement |
| **Outfit Preview**       | Mirror drone for self-viewing | 1      | Display screen, tracking       |
| **Try-On Assistance**    | Real-time fit feedback        | 1-2    | Pose estimation, overlay       |

### 6.5 Novel Applications

| Use Case                   | Description                | Drones  | Key Features                    |
| -------------------------- | -------------------------- | ------- | ------------------------------- |
| **Indoor Security Patrol** | Automated home monitoring  | 1       | Preset paths, anomaly detection |
| **Telepresence**           | Flying video call platform | 1       | 2-way audio/video, following    |
| **Plant Care**             | Garden monitoring and care | 1-2     | NDVI imaging, thermal           |
| **Pet Tracking**           | Follow and record pets     | 1       | Animal tracking, safe operation |
| **Light Shows**            | Synchronized LED displays  | 10-100+ | Formation, LED control          |

---

## 7. State-of-the-Art Technical Features

### 7.1 Swarm Intelligence

| Feature                      | Algorithm                                 | Performance                               |
| ---------------------------- | ----------------------------------------- | ----------------------------------------- |
| **ORCA Collision Avoidance** | Optimal Reciprocal Collision Avoidance    | <10ms planning, 100+ agents               |
| **EN-MASCA Patrolling**      | Enhanced Multi-Agent Swarm Control        | 96% area coverage                         |
| **DRL Task Allocation**      | Hybrid Deep RL + Distributed Optimization | 27.8% better than standalone              |
| **SARG Framework**           | Swarm Allocation and Route Generation     | Real-time 3D trajectory planning          |
| **MAVLink Protocol**         | Lightweight binary telemetry              | 255 concurrent systems, 14 bytes overhead |

### 7.2 AI Cinematography

| Feature                      | Technology                   | Capability                           |
| ---------------------------- | ---------------------------- | ------------------------------------ |
| **CineMPC**                  | Model Predictive Control     | Intrinsic + extrinsic camera control |
| **Subject Tracking**         | YOLO11-Pose + Kalman Filter  | 30+ FPS, occlusion recovery          |
| **KeyFrame Animation**       | AI-generated transitions     | Complex multi-keyframe paths         |
| **Shot Composition**         | Rule of thirds, golden ratio | Automatic framing                    |
| **Multi-Drone Coordination** | MAPF algorithms              | Field-tested with 3+ UAVs            |

### 7.3 Indoor Navigation

| Feature                        | Technology            | Accuracy                     |
| ------------------------------ | --------------------- | ---------------------------- |
| **UWB Positioning**            | LinkTrack, Pozyx      | 10cm (2D), 30cm (3D)         |
| **Visual-Inertial Odometry**   | ORB-SLAM3, VINS-Mono  | 0.08m final pose             |
| **Motion Capture Integration** | OptiTrack, Vicon      | <0.3mm positional            |
| **Event-Based VIO**            | Event cameras + IMU   | 50% error reduction          |
| **Depth Sensing**              | Intel RealSense D435i | Real-time obstacle detection |

### 7.4 Pose Estimation

| Feature                 | Model                  | Performance                   |
| ----------------------- | ---------------------- | ----------------------------- |
| **Real-Time Detection** | RTMPose-m              | 75.8% AP @ 90+ FPS            |
| **Aerial HPE**          | FlyPose (ViTPose-S)    | Up to 40m altitude            |
| **3D Reconstruction**   | HSMR + SKEL            | 10mm+ improvement over HMR2.0 |
| **Multi-View Fusion**   | SelfPose3d             | Self-supervised, no 3D labels |
| **Edge Inference**      | Jetson Orin + TensorRT | 30+ FPS onboard               |

### 7.5 Hardware Capabilities

| Feature               | Platform           | Specification                   |
| --------------------- | ------------------ | ------------------------------- |
| **Camera Resolution** | DJI Mavic 4 Pro    | 100MP, 6K@60fps                 |
| **Thermal Imaging**   | FLIR Boson+        | 640x512, 30mK sensitivity       |
| **Flight Time**       | DJI Mavic 4 Pro    | 51 minutes                      |
| **Edge AI**           | NVIDIA Jetson Orin | 275 TOPS                        |
| **NightSense**        | Skydio X10         | Zero-light autonomous operation |

### 7.6 Communication & Streaming

| Feature                   | Technology         | Specification                 |
| ------------------------- | ------------------ | ----------------------------- |
| **Video Transmission**    | DJI O4+            | 30km range, 10-bit HDR        |
| **Low-Latency Streaming** | WebRTC             | <150ms latency                |
| **Mesh Networking**       | Meshmerize         | 100+ nodes, <100ms latency    |
| **5G Integration**        | Skydio Connect     | Unlimited range with cellular |
| **Multi-Camera Sync**     | Timecode + genlock | Sub-frame synchronization     |

---

## 8. Safety & Compliance

### 8.1 Safety Features

| Feature                    | Description                                        |
| -------------------------- | -------------------------------------------------- |
| **Propeller Guards**       | Mandatory for indoor use, full enclosure preferred |
| **Speed Limiting**         | Configurable max speed (2-5 mph indoor)            |
| **Geofencing**             | Static, dynamic, and custom virtual boundaries     |
| **Emergency Landing**      | Automatic failsafe procedures                      |
| **Low Battery RTH**        | Return-to-home on battery threshold                |
| **Obstacle Avoidance**     | 360-degree sensor coverage                         |
| **Human-Aware Navigation** | Social navigation algorithms                       |

### 8.2 Noise Reduction

| Technique               | Reduction      | Technology                |
| ----------------------- | -------------- | ------------------------- |
| **Serrated Edges**      | ~5.7% decrease | Micro-vortex generation   |
| **Toroidal Propellers** | 47% quieter    | No tip vortex             |
| **Lower RPM**           | Significant    | Larger props, slower spin |
| **Target**              | <60 dB         | EU urban limit compliance |

### 8.3 Regulatory Compliance

| Region     | Regulation        | Oya Support                      |
| ---------- | ----------------- | -------------------------------- |
| **USA**    | FAA Part 107      | Remote ID, registration tracking |
| **EU**     | EASA regulations  | 60 dB limit compliance           |
| **NDAA**   | US Government     | Skydio X10D integration          |
| **Indoor** | Not FAA regulated | Property owner rules support     |

---

## 9. Development Priorities

### Phase 1: Core Infrastructure (Months 1-3)

- [ ] Core types and constants
- [ ] MAVLink protocol implementation
- [ ] PX4/ArduPilot adapters
- [ ] Basic telemetry collection
- [ ] TypeScript client SDK

### Phase 2: Navigation & Control (Months 4-6)

- [ ] GPS navigation
- [ ] Indoor positioning (UWB, VIO)
- [ ] Basic obstacle avoidance
- [ ] Path planning algorithms
- [ ] Mission execution

### Phase 3: Swarm Capabilities (Months 7-9)

- [ ] Multi-drone coordination
- [ ] ORCA collision avoidance
- [ ] Formation flying
- [ ] Task allocation
- [ ] Mesh communication

### Phase 4: AI Cinematography (Months 10-12)

- [ ] Subject tracking
- [ ] Shot composition
- [ ] Trajectory optimization
- [ ] Multi-camera coordination
- [ ] Streaming integration

### Phase 5: Pose Estimation Integration (Months 13-15)

- [ ] 2D pose detection pipeline
- [ ] 3D reconstruction
- [ ] Multi-view fusion
- [ ] Form analysis algorithms
- [ ] Aja domain integration

### Phase 6: Domain Integrations (Months 16-18)

- [ ] Aphrodite integration
- [ ] Lilith integration
- [ ] Yemaya integration
- [ ] Production hardening
- [ ] Documentation

---

## 10. Technology Stack Summary

### Languages & Frameworks

- **TypeScript**: Client SDK, event handlers
- **Python**: ML/AI pipelines, pose estimation
- **Rust**: Performance-critical flight control
- **C++**: Edge AI inference, hardware interfaces

### Key Dependencies

- **MAVLink/MAVSDK**: Flight control protocol
- **ROS 2**: Robotics middleware
- **PX4/ArduPilot**: Autopilot systems
- **NVIDIA TensorRT**: Edge AI inference
- **OpenCV**: Computer vision
- **MediaPipe/YOLO**: Pose estimation

### Infrastructure

- **Redis Streams**: Event messaging
- **PostgreSQL**: Flight logs, telemetry
- **MinIO**: Video/image storage
- **Gazebo/AirSim**: Simulation

---

## 11. Success Metrics

| Metric                 | Target         | Measurement              |
| ---------------------- | -------------- | ------------------------ |
| **Indoor Positioning** | <15cm accuracy | UWB + VIO fusion         |
| **Swarm Coordination** | 10+ drones     | Collision-free operation |
| **Video Latency**      | <200ms         | WebRTC streaming         |
| **Pose Estimation**    | 30+ FPS        | On-device inference      |
| **Battery Efficiency** | >40 min flight | Optimized paths          |
| **Noise Level**        | <60 dB         | EU compliance            |

---

## Conclusion

Oya represents a comprehensive platform capability domain that would enable
sophisticated drone-based features across the entire Oshun ecosystem. By
following the established architectural patterns (capability domain consumed by
product domains), it provides maximum reusability while maintaining clear
boundaries.

The domain name Oya (Yoruba goddess of wind, storms, and transformation)
maintains thematic consistency with Oshun's mythology-based naming (alongside
Yemaya and Aja) while perfectly capturing the essence of flight, swift
coordination, and the transformative power of drone swarms working in harmony.

Key differentiators:

1. **Multi-platform support**: DJI, PX4, ArduPilot, Skydio
2. **Indoor-first**: UWB, VIO, SLAM for GPS-denied operation
3. **Swarm-native**: Built for multi-drone coordination from the start
4. **AI-powered**: Cinematography, pose estimation, navigation
5. **Integration-ready**: Designed for Oshun domain consumption