Aerial Vehicle is an autonomous or remotely control aircraft which is either has embedded systems with onboard sensors or remotely controlled by flight control tools. This system can be categorized as Unmanned AV or drone. One of them is known as Quad-rotor based UAV - a four rotors type helicopter that are connected to two identical sets of fixed pitch propellers, two rotating clockwise and the other two rotating counterclockwise. This such system might be used for surveillance and rescues operations. Research for this type of system includes modelling, control, vision servoing, autonomous navigation and intelligent behaviour, and other relevant areas.