1 Introduction
Rotorcraft-based unmanned aerial vehicles (RUAVs) have emerged as useful platforms for intelligent mobile robots, due to their flight capabilities. The unique lift generation mechanism of rotorcrafts enables hover, vertical take-off/landing, pirouette, and sideslip, which – cannot be achieved by fixed-wing aircraft. These versatile flight modes are often needed for detection, location, and tracking of targets, in applications including reconnaissance, aerial surveillance, public safety search and rescue activities. A berkeley ruav in autonomous flight