I. Introduction
In the last decades, the area of aerial robotics has been discussed by a lot of researchers as it has applications in different areas like military [1], [2], and civilian [3]. Furthermore, because of its small size, it can fly in narrow environments. Micro Aerial Vehicles (MAVs) have applications in agriculture sectors [4]. Remote sensing based on Unmanned Aerial Vehicles (UAVs) can be performed to increase the possibility of acquiring field data for precision agriculture applications [5]. Autonomous UAVs have greatly benefited the search and rescue operations to examine the position and collect evidence about the missing persons. It also saves time and considers safety as well [6]. To monitor terrorist activities [7] and keep an eye on suspicious movements of people, border surveillance [8]. Last but not least, the delivery of first aid kit [9] are some of the reasons that aerial robotics got the attention of researchers. Furthermore, the quadcopter has a simple mechanical design, lightweight and no Swash-Plate mechanism [10].