  Performing rescuing and surveillance operations with autonomous ground and
aerial vehicles become more and more apparent task. Involving unmanned robot
systems allows making these operations more efficient, safe and reliable
especially in hazardous areas. This work is devoted to the development of a
cost-efficient micro aerial vehicle in a quadrocopter shape for developmental
purposes within indoor scenarios. It has been constructed with off-the-shelf
components available for mini helicopters. Additional sensors and electronics
are incorporated into this aerial vehicle to stabilize its flight behavior and
to provide a capability of an autonomous navigation in a partially unstructured
indoor environment.
