This thesis focuses on the development and implementation of a miniature indoor blimp as an alternative unmanned aerial vehicle (UAV) for indoor exploration and surveillance applications. Unlike traditional quadcopters, the blimp offers a safer, quieter, and more resilient solution for indoor environments. The blimp's key feature is its exceptional spatial position control, achieved through control theory principles and state-of-the-art research. This control capability enables precise movement and hovering, making it suitable for tasks requiring accuracy and stability. Additionally, the blimp incorporates autonomous navigation, allowing it to follow specific trajectories with high accuracy, benefiting applications such as repetitive surveillance or exploration of unknown environments.