  This book provides a solution to the control and motion planning design for
an octocopter system. It includes a particular choice of control and motion
planning algorithms which is based on the authors' previous research work, so
it can be used as a reference design guidance for students, researchers as well
as autonomous vehicles hobbyists. The control is constructed based on a fault
tolerant approach aiming to increase the chances of the system to detect and
isolate a potential failure in order to produce feasible control signals to the
remaining active motors. The used motion planning algorithm is risk-aware by
means that it takes into account the constraints related to the fault-dependant
and mission-related maneuverability analysis of the octocopter system during
the planning stage. Such a planner generates only those reference trajectories
along which the octocopter system would be safe and capable of good tracking in
case of a single motor fault and of majority of double motor fault scenarios.
The control and motion planning algorithms presented in the book aim to
increase the overall reliability of the system for completing the mission.
