I do agree with @vmayoral, that the erle-copter is a great choice given that its abit more powerful in terms of computation than other systems on the market.
The crazyflie 2.0 is aslo a great developer quadcopter for indoor use, however due to its tiny size you are quite limited when it comes to what it can carry, and it does not include GPS.
As for platforms, we sell a bunch of quadcopter kits that vary in size and carrying capacity so once you have some idea about what sensors you are using I can give you some better ideas about which platform/motors/battey. possibly something along the lines of F450 frame will be good.
In terms of communication, if its just telemetry data you are after then the best thing to use would be the 433mhz telemetry kit as they work realy well, You can also use them to control your quadcopter via your PC/smartphone instead of a RC controller.
But overall I would highly suggest you consider using a flight controller based off the arducopter firmware, such as pixhawk, APM, unmanned hawk, or even the erle-copter.
Hope that helps