I. Introduction
In Recent years, aerial robots have become popular in industry and academia because of their low cost and a large number of applications. Especially in object transportation, aerial vehicles such as quadrotors have demonstrated to be effective as a solution. Some of the main applications of quadrotors are: delivering last-mile packages for retail and wholesale companies [1]; transporting supplies to disaster areas [2]; accessing dangerous areas for humans such as forest fires [3], and delivering medicines and food such as needed in remote regions.