Do you remember the MAVs, those little autonomous tiny bugs that will change (in the future) the warfare? Here is something bigger and less harmful, but it is a proof that autonomous flight in buildings is more realistic than ever. Youtube user frankerssj uploaded a video demonstrating an autonomous quadrotor, that flights inside a building with multiple floors, stairs and narrow corridors. The quadrotor is equipped with an IMU, camera, and laser scanner with deflective mirrors, and generates in real time a sparse 3D representation of the area. All computations are performed onboard using a 1.6GHz atom processor. This bot is able to fly with success in environments where no GPS access is possible. An RRT based planner provides an anytime planning solution that fits the computational constraints of the robot. This planner also enables online re-planning and obstacle avoidance. An LQR optimal controller with external force compensation enables reliable autonomous flight in highly constrained environments, such as hallways, doors, and windows. The robot is able to track the high-level plans accurately. Visit frankerssj's channel for more.