UAVs civil applications are growing every day. The advances in technology and communications facilitate the design of new aerial test-bed configurations. The research community increases also the interest to conceive and apply new algorithms to control or navigate these vehicles autonomously. This chapter gives a summary of previous works developed in the literature about the control and navigation of aerial vehicles, especially the quadcopter configuration. Control algorithms do not signify only algorithms to stabilize the vehicle; this chapter includes background for modeling, tele-operation, data fusion, delays systems and predictors, trajectory generation and obstacle avoidance.