Navigation Functionalities for an Autonomous UAV Helicopter

Acknowledgements
This work would have not been possible without the support and help of
my family, colleagues and friends. I would like to thanks all of them here.
Especially I would like to thanks:
My supervisor Patrick Doherty who has believed in me supporting my
research and helping me in the time of darkness.
Simone Duranti for too many things: for the exciting and productive
discussions about (but not only) UAVs, for his intuitions and many inputs
to my research and for sharing a common point of view on the definition
of ”good food”.
My colleagues Piotr Rudol, Fredrik Heintz, Per-Magnus Olsson, Simone
Duranti and Per Nyblom to have spent part of their time to go through my
thesis and giving me vital feedback.
Piotr and Mariusz for their effort, time and especially extra time put
into the project, for making the robot-lab never boring and for keeping the
robot-lab fridge never empty on friday.
All the AIICS members for being available at anytime and for making
the working environment always friendly.
Felix and Dave with whom I share the hard task of surviving the Swedish
winter, I have to say they make it so much easier.
I also thanks the swedish authority for all the presents left under the
windshield wipers of my car, especially for not enforcing to pay them.
My family and Roberta for being there.
v