By: Carlos Gonzalez A review of modern drone modeling, state estimation, motion planning, and control. F.A.Q. What is this? A short introduction to doing modeling, state estimation, motion planning, and control for quadcopters. My goal with this is not to be an authoritative source but instead to serve as a “jumping off point” for people who are new to the topic. Once you finish this you’ll have a good understanding of how a quadcopter can be made autonomous. I’ve also included references in every post for those that want a more rigorous look at the topics that I discuss. Some sections are still being completed, denoted (WIP), but they'll be done soon. Why did you make this? Because something like this should exist… Seriously… When I was an undergrad I became obsessed with quadcopters and that led me to wanting to know how to make them autonomous. However, even after reading all the research papers I could find I was just as confused as when I started.…