... multi-leveled approaches to this problem[1], [3],[5], [8].This paper also presents amodular solution to deal with the differentaspects of control. The focus of this P. Corke and S. Sukkarieh (Eds.): ... controls whichsatisfyinitialand terminalposi-tion, pose, or postureconstraints.Position is definedasalocationinspace( x , y , z ); pose adds orientation(x , y , z , φ , θ , ψ ); and posture/state ... efficientautopi-lot, but alsokeeps in mindit s futureapplication.This is done by designing and selectingall the parts to obtain alightweightand low-powerairplane.Weplantoperform the firstexperiments withthe...