Coaxial quadcopter trajectory optimization and control The use of mobile robots is growing exponentially in civil and industrial application, using technologies like GPS and Lidar to guarantee an accurate localization of the robot and a precise environment mapping. However, there are many situations in which such solutions are impossible to adopt due to physical or technological limitations (e.g., the GPS is impossible to use in indoor environments or in place in which the satellite coverage is not guaranteed). This thesis aims to design a possible trajectory planning of a drone without using the GPS signal and the Lidar, traditionally adopted elements in drone operations.