Below image shows an example of what I want to do. Using Simulink sl_quadrotor model in an environment with a polygon, lets call it tower, I want the quadrotor to fly up along the tower and from its top to the other side of the tower and then down. I added some arrows on top of the image to clarify the desired path.
In my actual environment I will have many towers.
I need to use Monte Carlo localization.
Is there any already available tool in Simulink/MATLAB for that?
Update-1:
This is the sl_quadrotor model, I am only changing the x,y,z to be read from the work space.