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This book presents the basic tools required to obtain the dynamicalmodels for aerial vehicles (in the Newtonian or Lagrangianapproach). Several control laws are presented for mini-helicopters,quadrotors, mini-blimps, flapping-wing aerial vehicles, planes,etc. Finally, this book has two chapters devoted to embeddedcontrol systems and Kalman filters applied for aerial vehiclescontrol and navigation. This book presents the state of the art inthe area of UAVs. The aerodynamical models of differentconfigurations are presented in detail as well as the controlstrategies which are validated in experimental platforms.