Autonomous Indoor Hovering with a Quadrotor

Mini and micro UAVs are very promising platforms for security and surveillance applications, because of their increased mobility in the environment. Moreover, they can effectively employed also in indoor environments. On the other hand, the limited payload for carrying sensors and the limited computational power on-board make the development 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 different on-board and off-board sensors.