Micro Aerial Vehicles - platforms

Multi-robot Systems group operates a wide variety of aerial platforms for research and other deployments. All our platforms are capable of completely autonomous flight and operation. Various sensory packages are used for different tasks, allowing autonomous operation in difficult environments with obstacles, without GPS, and with poor or no lighting. Our MAVs are running a custom software solution developed by our group. It is based on ROS, which enables rapid software development and easy integration.



Our platforms are equipped with PixHawk flight controller running the PX4 stack, which acts as a low-level controller. Each platform has also a powerful onboard computer, usually an Intel NUC. This computer runs all the control and estimation algorithms, and takes in data from multiple sensors. Our drones can communicate and actively avoid collisions with each other or with the environmental obstacles.

We are able to build a MAV platform for your needs. Simply use dronebuilder web page and let us know what you would like to have.

MAV platforms:

Holybro X500

Our newest platform based upon the Holybro X500 frame. The installed equipment is optimized to make this drone ready for an autonomous indoor flights in harsh environments (subterranean, halls, industrial areas, etc.) relying on on-board sensors only. It is equipped with a 3D LIDAR for spatial perception, 2pcs of RGB-D camera for vertical maneuverability, 2pcs of RGB camera for visual inspections, and adjustable on-board light. We use this platform for the difficult subterranean environments in the DARPA Subterranean Challenge.
  • 500 mm frame
  • 13″ or 14″ carbon propellers
  • 4x T-Motor MN3510-13 700 kV motors
  • 2x 4S 6750 mAh LiPo battery
  • ~3.5 kg liftoff weight

Tarot T650 Sport

Our large general-purpose platform with high lifting capability. Ideal for larger payloads and sensors, and longer flights. It can be easily modified and customized for different applications. This platform was used to solve all the challenges at the MBZIRC 2020 robotics competition.


  • 650 mm frame
  • 15″ carbon fiber propellers
  • 4x 4114 320kV motors
  • 6S 8000 mAh LiPo battery
  • ~3.5 kg liftoff weight

DJI F450

Our lightest general-purpose platform. With its small size and weight, this is our primary platform for indoor and other GPS denied areas with obstacles. This platform is often used with the  UVDAR system for onboard relative localization for swarming experiments. We also use this platform for the difficult environments in the DARPA Subterranean Challenge.


  • 450 mm frame
  • 9.4″ plastic propellers
  • 4x 2312 920 kV motors
  • 4S 6750 mAh LiPo battery
  • ~1.75 kg liftoff weight