The Quad Thrust Aerial Robot (QTAR) was my (Joshua Portlock's) final year Mechatronic Engineering Project in 2005 at Curtin University of Technology.
It is a quadrotor VTOL UAV with a 200 gram payload capacity and 15-20 minute flight endurance (depending on battery capacity and payload). I designed the attitude estimation and control system, which controls the pitch and roll angles within 15 degrees from level hover.
I was furthering my research of VTOL UAVs by undertaking my PhD, but have put that on hold while I'm working full-time at a flight technology company called Entecho, who are developing a radial fan thrust-levitating personal flying platform and a UAV version too. Check out the website at http://www.entecho.com.au if you're interested. Feel free to contact me if you have any questions or want to share some knowledge about VTOL UAVs.