Urban environments are time consuming, labor intensive and possibly dangerous to safe guard. Accomplishing tasks like bomb detection, search-and-rescue and reconnaissance with aerial robots could save resources. This paper describes a prototype called CQAR: Closed Quarter Aerial Robot, which is capable of flying in and around buildings The prototype was analytically designed to fly safely and slowly. An optic flow microsensor for depth perception, which will allow autonomous takeoff and landing and collision avoidance, is also described.

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