Abstract
We present a tutorial introduction to the multi-rotor unmanned aerial vehicles, often simply referred as drones. We first explain typical configuration, components and construction of the drones. We then provide basic kinematic and dynamic modeling of drones and their principle of flight. Some representative motion control techniques are then presented, which take into account the issue of under-actuation of the drones. State estimation problem of the drones, that is crucial for their proper flying, yet, should be done only by using onboard sensors and their sensor fusion, is explained. Some emerging research directions requiring capability beyond typical drones are also mentioned.
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