Due to their extreme versatility, autonomous drones have been gaining a lot of interest over the last decades. Applications are mainly intended to reduce injuries, saving lives and optimizing already existing processes, covering a wide range of scenarios, such as smart agriculture, emergency situations and safety inspections. PIC4SeR, PoliTO Interdepartmental Centre for Service Robotics, embraced this topic a few years ago starting to develop different UAVs, from ultralight models lighter than 250 grams to much heavier drones, in order to exploit technologies oriented to service robotics, smart cities, precision agriculture and search-rescue operations, which are the main topics of interest of the center.