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Performing rescuing and surveillance operations with autonomous ground andaerial vehicles become more and more apparent task. Involving unmanned robotsystems allows making these operations more efficient, safe and reliableespecially in hazardous areas. This work is devoted to the development of acost-efficient micro aerial vehicle in a quadrocopter shape for developmentalpurposes within indoor scenarios. It has been constructed with off-the-shelfcomponents available for mini helicopters. Additional sensors and electronicsare incorporated into this aerial vehicle to stabilize its flight behavior andto provide a capability of an autonomous navigation in a partially unstructuredindoor environment.

Development of a Cost-efficient Autonomous MAV for an Unstructured Indoor Environment