Mahony, RobertKumar, VijayCorke, Peter2015-12-101070-9932http://hdl.handle.net/1885/64922This article provides a tutorial introduction to modeling, estimation, and control formultirotor aerial vehicles that includes the common four-rotor or quadrotor case.Keywords: Aerial vehicle; Quadrotors; Robotics; Electrical engineeringMultirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor201210.1109/MRA.2012.22064742016-02-24