Abstract
Recent progress in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL1 systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring, building exploration and intervention in hostile environments. In this paper, we emphasize the importance of the VTOL vehicle as a candidate for the high-mobility system emergence. In addition, we describe the approach that our lab2 has taken to micro VTOL evolving towards autonomy and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4.3
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