Interfaced DWM1000 Range Only sensor to an Arduino Uno/Mega board successfully. Programmed and tested successfully least-square based localization approach through four DWM1000 sensors using Python for a static localizer. Implemented and successfully tested EKF localization on Pixhawk autopilot hardware board interfaced with DWM1000 sensor and data collected by ROS framework. Successfully implemented pose estimation of quadrotor in GPS denied environment through EKF approach assisted by MARG sensor array, an optical flow camera and a sonar sensor. EKF approach is further incorporated for Range Only SLAM using DWM1000 sensor. MATLAB simulation of control design techniques for quadrotor by PID Control, Linear Quadratic Control, Pole Placement, Dynamic Inversion. Simulation involves two loops (inner and outer), which provides the overall control design of quadrotor.