MAVSeN laboratory has three Qballs X-4. It is a rotary wing vehicle platform developed by Quanser that provides a suitable UAV platform for a variety of UAV research applications. It is a quadrotor design with four motors fitted with 10-inch propellers. The entire mechanism is enclosed within a protective carbon fiber cage, making it an ideal tool for basic vehicle navigation and control. The Qball-X4 is integrated with the IRIS nodes for mobile sensing applications.