You have probably seen one flying above you at some point: a quadcopter, also known as a drone. These flying robots are becoming increasingly important in today’s society, leading to stricter demands on their performance in terms of speed, accuracy, reliability and robustness. In order for these demands to be met, improvement of existing estimation and control algorithms is of crucial importance. In his research, Ph.D. candidate Alex Andriën has improved upon several existing methods for estimation and control of quadcopters by employing optimization-based techniques. He will defend his thesis on Monday 24th of February, 2022.