Development of a multirotor-based system for air quality monitoring

Air quality monitoring has been traditionally conducted using ground-based systems that present multiple disadvantages in terms of support infrastructures, maintenance and power consumption. Recently, researchers have proposed the use of unmanned aerial vehicles (UAV) equipped with sensors for air data monitoring. However, UAV operation lacks of reliability to be used in populated area. In this paper, we propose to use an hexarotor UAV armed with Fault Tolerant Control (FTC) strategies to measure and detect air quality for air data collection in urban environments.