Autonomous Indoor Hovering with a Quadrotor

Mini and micro UAVs are very promising platforms for se- curity and surveillance applications, because of their increased mobility in the environment. Moreover, they can eectively employed also in in- door environments. On the other hand, the limited payload for carrying sensors and the limited computational power on-board make the devel- opment of autonomous UAVs very challenging. In this paper we present hardware and software development of a quadrobot that can reliably navigate in indoor environments. In particular, we focus on the problem of indoor hovering by controlling the 6 DOF of the vehicle with dierent on-board and o-board sensors.