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The purpose of this book is to deliver the essentials between target locations autonomously; this can be achieved by using an autonomously navigating quadcopter. Thus, the work is to navigate a quadcopter autonomously between target locations avoiding obstacles. The quadcopter is built with Pixhawk running PX4 flight stack as FCU and Raspberry-pi with ROS installed as on-board computer. Localization is done by taking the raw data from multiple sensors on the platform like IMU and LIDAR whose output is given as input to EKF to derive the pose of the quad. The process of delivery is executed and analyzed using a gazebo simulator in which real world environment set-up can also be done. Thus, we can improve the working of the model by analyzing and correcting the error before practical setup execution.