Dynamics and control of a VTOL quad-thrust aerial robot

Some possible useful applications for Vertical Take-Off & Landing (VTOL) Unmanned Aerial Vehicles (UAVs) include remote video surveillance by security personnel, scouting missions or munitions delivery for the military, filming sports events or movies from almost any angle and transporting or controlling equipment. This paper describes the design, control and performance of a low-cost VTOL quadrotor UAV, known as the QTAR (Quad Thrust Aerial Robot)