This project explores the feasibility of using a Linear Quadratic Regulator (LQR) to control a fully-actuated hexarotor. While the current system relies on a nonlinear control approach based on the standard UAV model, such methods can quickly become complex in both mathematical formulation and implementation. The goal is to evaluate whether a linear control strategy can achieve comparable performance. Success in this task could pave the way for applying LQR techniques to more complex multi-rotor systems—such as octo- or even 16-rotor UAVs—offering simpler designs and potentially faster response times, especially under hardware constraints.