This thesis presents the steps for the development of a multicopter of the type quadrotor for delivering usage by means of semi-autonomous techniques. After a brief introduction of the state of the art for the UAV (Unmanned Aerial Vehicles) technology, the equations of motion using Euler's angles approach are presented. In sequence, after a review of the propulsion components available on the market, a method for choice of the best fit of commercial components, and therefore dimensioning, is presented. Following, the control approach is introduced as the MATLAB simulation and results. The last part of the work focuses, on the assemblying and the additive manufacture of the UAV and the presentation of the electronics schematic used and the basic control method in the flight controller..