Some interesting research from ETH Zurich where their muFly project has produced some interesting research including the micro-helicopter shown above.
Researchers there also recently won best conference paper at ICRA 2009 for its paper "Towards a Navigation System for Autonomous Indoor Flying".
I like how they setup a mirror to use the Hokuyo laser as an altimeter, though in an indoor environment I would probably also reflect it up to check the distance to the ceiling.
This video shows their quadrotor helicopter flying indoors along with a 2D SLAM (Simultaneous Localization and Mapping) visualization.
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