During the last period, the work on the compensation of aerodynamic drag coefficients, described in the previous report, was continued.  In a first step, the lumped aerodynamic drag coefficient was identified in a Vicon motion tracking system and then tested to show we can improve the transient of the closed-loop system.  
    
Following up on our earlier work on laser-based teleoperation, we now intend to extend this scheme to be employed in unstructured environments. Using the laser-scanner, we made the assumption that the UAV is operated in an environment consisting only of vertical walls. This restricts the use of the UAV to structured environments, e.g. in office environments or while following vertical walls. As outlined in the report "Technical Objectives of TUAV Project and Sensor Evaluation ", we therefore intend to use a visual-inertial stereo-camera system for both localization and obstacle detection of the UAV within unstructured environments. At the industrial project partner Skybotix, such a sensor is available (for more details on the sensor, please refer to the previously mentioned report).  Currently, this sensor is being integrated on the UAV. More precisely, a vibration-damped sensor mount is currently designed for fixation of the sensor of the UAV platform. In parallel, we started to integrate the pre-existing algorithms in our teleoperation framework. Currently, we are evaluating whether a sparse point-cloud (generated from a set of stereo images) provides sufficient information for stable and robust obstacle avoidance.