Pounds, PaulMahony, Robert2015-12-07May 12-179781424427895http://hdl.handle.net/1885/22729Virtually all quadrotors used in research weigh less than 2 kg, and carry payload measured in hundreds of grams. To be useful platforms for expanded operations, these vehicles must be capable of carrying greater weight. Several obstacles in aerodynamics,Keywords: Design and control; Design considerations; Design Principles; Quadrotors; Robotics200910.1109/ROBOT.2009.51523902016-02-24