In this paper. the problem of simultaneous localization and mapping (SLAM) using a modified Rao Blackwellized Particle Filter (RBPF) (a modified FastSLAM) is developed for a quadcopter system. It is intended to overcome the problem of inaccurate localization and mapping caused by inertial sensory faulty measurements (due to biases. drifts and noises) injected in the kinematics (odomet... https://jalyttlers.shop/product-category/wobbly-pot/