In this repo, you find the theses and papers published as a part of the [CPS-VO] Challenge 2018. The competition requires In this competition, "Team Halmstad" of Halmstad University secured second place and also won a special mention "Best UAV design award".  The drone which was named as F651 is a hexacopter built from a DJI F550 frame. The complete drone was built from scratch by six bachelor students as a part of their Bachelor thesis work. 1. The [Drone] body, its grippers design and the complete hardware system were designed and built by two Mechatronics Engineering students - Anders Bogga and Emil Andersson. 2. The [coverage] planning, object detection and pickup was developed by two Competer Science Engineering students - Patrik Karlsson and Emil Johansson. 3. The [altitude] control and obstacle avoidance was developed by two Electrical Engineering students - Markus and Jacob Carlsson. [CPS-VO]: https://cps-vo.org/group/CPSchallenge [Drone]:http://www.diva-portal.org/smash/get/diva2:1216528/FULLTEXT02.pdf [coverage]: http://www.diva-portal.org/smash/get/diva2:1218680/FULLTEXT02.pdf [altitude]: http://www.diva-portal.org/smash/get/diva2:1229952/FULLTEXT02.pdf