1. A. Coordinate transformation uses quaternions. It does not have singularities. A quaternion q is : To stabilize the quadrotor, a PID control is used. Fig. 1. PID [Wikipedia] To be autonomous, the quadrotor has to solve the simultaneous localization and mapping (SLAM) problem [7]. Fig. 2. autonomous robots [8] A. Coordinate transformation uses quaternions. It does not have singularities. A quaternion q is : To stabilize the quadrotor, a PID control is used. Fig. 1. PID [Wikipedia] To be autonomous, the quadrotor has to solve the simultaneous localization and mapping (SLAM) problem [7]. Fig. 2. autonomous robots [8] Abstract specification and the implementation of an autonomous guard Introduction Proposed system References Specifications Table 1 : PEAS [9] Table 2: ODESA [9] The used quadrocopter is an Parrot AR drone 2.0 (http://ardrone2.parrot.com). Fig. 3. Proposed system Specifications Table 1 : PEAS [9] Table 2: ODESA [9] The used quadrocopter is an Parrot AR drone 2.0 (http://ardrone2.parrot.com). Fig. 3. Proposed system Evaluation Performance Measure Distance kept from walls while flying Future Performance Measure suspicious objects followed Environmentwalls, suspicious objects Actuators4 rotors Sensorscamera and IMU ObservabilityPartial Observable DeterministicStochastic EpisodicSequential Staticdynamic Agentsmulti-agent [1]R. Lozano, editor. Unmanned Aerial Vehicles. John Wiley, 2010. [2]Jinhyun Kim, et al, "Accurate modeling and robust hovering control for a quadrotor vtol aircraft," Journal of Intelligent and Robotic Systems, 57(14):9-26, 2010. [3]D. G. Kottas, et al, "On the consistency of Vision-aided Inertial Navigation", 13 th International Symposium on Experimental Robotics June 1720 2012, Quebec, Canada [7]Hugh Durrant-Whyte, Tim Bailey, "Simultaneous Localization and Mapping: Part I," IEEE Robotics and Automation Magazine, June. 2006. [8]Roland Siegwart, Illah R. Nourbakhsh, "Introduction to Autonomous Mobile Robots", Intelligent Robotics and Autonomous Agents series, MIT Press, 2004 [9]S. Russell et al, "Artificial Intelligence: A Modern Approach," Prentice-Hall, 2010 [10]M. A. El-Dosuky, et al, "Simulated Tom Thumb, the Rule Of Thumb for Autonomous Robots," CoRR, 2012, abs/1210.2421 [11]M. A. El-dosuky, "HKH : Helen Keller Heuristic, a Common Ground Scenario for Human-Robot Interaction," IJCA, 2014, vol. 89, no. 2, pages = 1-6 [1]R. Lozano, editor. Unmanned Aerial Vehicles. John Wiley, 2010. [2]Jinhyun Kim, et al, "Accurate modeling and robust hovering control for a quadrotor vtol aircraft," Journal of Intelligent and Robotic Systems, 57(14):9-26, 2010. [3]D. G. Kottas, et al, "On the consistency of Vision-aided Inertial Navigation", 13 th International Symposium on Experimental Robotics June 1720 2012, Quebec, Canada [7]Hugh Durrant-Whyte, Tim Bailey, "Simultaneous Localization and Mapping: Part I," IEEE Robotics and Automation Magazine, June. 2006. [8]Roland Siegwart, Illah R. Nourbakhsh, "Introduction to Autonomous Mobile Robots", Intelligent Robotics and Autonomous Agents series, MIT Press, 2004 [9]S. Russell et al, "Artificial Intelligence: A Modern Approach," Prentice-Hall, 2010 [10]M. A. El-Dosuky, et al, "Simulated Tom Thumb, the Rule Of Thumb for Autonomous Robots," CoRR, 2012, abs/1210.2421 [11]M. A. El-dosuky, "HKH : Helen Keller Heuristic, a Common Ground Scenario for Human-Robot Interaction," IJCA, 2014, vol. 89, no. 2, pages = 1-6 Fig. 4 Canny edge detection and Line Tracking Features