Within the PRISMA Lab, the PRISMA Arena is available, which is a flying cage of 8x6 meters, 6-meter high, inside the four/five times bigger High-Voltage Room belonging to the Department of Electrical Engineering and Information Technology. The PRISMA Arena is endowed with an OptiTrack motion capture system, made up by 20 cameras, to recognize and measure the position of the aerial vehicles inside the arena. A personal computer is in charge of the communication with the vehicles and it is also a telemetry station. The vehicles currently used in the PRISMA Arena are two quadrotors: an AscTec Pelican and an ASLATech. Both are endowed with autopilots, accelerometers, magnetometers, on-board cameras and so on.