This thesis presents a novel Modular Architecture for Robotic Control (MARC) for unconventional Unmanned Aerial Vehicles (UAV), which cannot be effectively controlled using traditional control architectures/systems. In this document, the proposed methodology targets a Double-Ducted Vertical Take-off and Landing (VTOL) vehicle, Helix, capable of manoeuvring within confined spaces. This thesis presents the characteristics of the MARC architecture/system and its use on the Hemarclix vehicle, a suitable platform for indoor flight that can be used for surveillance and reconnaissance ssions. This thesis describes how the MARC utilizes dynamic weighting functions to affect the influence of multiple tasks and action based control systems, by optimizing the influence of six Fuzzy Logic Controllers to enable flight behaviours based on user defined operational goals (i.e., attitude and pose stabilization control). The test vehicle possesses omni-directional flight characteristics for rapid "aggressive" manoeuvres (i.e., stable high-speed flight). The results showcase the potential for the MARC control system to optimize the performance of fully-autonomous and semi-autonomous mobile robotics, specifically unconventional (aerial) vehicles.