Building quadrotors with Arduino for indoor environments

This paper discusses quadrotors in indoor environments with Arduino, an open source electronics platform, and MATLAB. In the world, there are a lot of commercial quadrotors that equip feedback controllers. But most of such quadrotors are not allowed to tune the parameter of the controller and to implement another types of controllers. Similarly, most of the quadrotors are not small enough to fly in a room where multiple quadrotors fly at the same time. This paper instructs how to build a palm-sized quadrotor that has an Arduino compatible circuit and a printed out frame. In a test flight, PD control by a MATLAB code is applied to the developed quadrotor.