Research Fellow of the team, for always sharing his experiences in the field and providing the author with many suggestions. The author also owes a credit to the research project collaborator, Mr. Jaroslaw Hajduk, an expert in Unmanned Aerial Vehicle systems, whom offered significant assistance during the flight tests for the SUAVs. The project would not have been conducted so smoothly without the technical supports and administrative assistances from the helpful team of technicians in Robotic Research Centre. A big thank to Mr. Lim Eng Cheng, Madam Toh Siok Kuan Agnes, Mr. You Kim San and Ms. Toh Yen Mei. It also has been the author's pleasure to be able to work hand in hand with his fellow research mates, particularly Ms. Pang Wee Ching and Mr. Wong Choon Yue, and final year student mentees. Working with them along this journey has been very fulfilling. Discussions and opinions offered have assisted the author to shape this project well. The author would also like to convey his thankfulness to his family, and his good friend, Ms. Chan See Yeu for always being supportive. Finally, the author would like to thank those who have assisted him in a way or another during the course of the research project.