<p>Autonomous aerial systems have recently been at the forefront of robotics research, and currently enjoy a continuously expanding range of applications wherein they are actively utilized. Commonly these are called drones, but this survey of the current state-of-the-art also considers &ldquo;Micro Aerial Vehicles&rdquo; in order to emphasize the increasingly advanced levels of autonomy and the small scale of such systems.</p><p>This monograph provides researchers, engineers and students with a comprehensive overview of core modeling, control, estimation, and planning concepts and approaches for micro aerial robots of the rotorcraft class. A comprehensive description of a set of methods that enable automated flight control, state estimation in GPS&ndash;denied environments, as well as path planning techniques for autonomous exploration is also provided, and serves as a holistic point of reference for those interested in the field of unmanned aerial systems.</p><p>This monograph will be a valuable starting point for researchers and developers working in the exciting area of aerial robots of the rotorcraft class, or drones.</p>