We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation and control using only a monocular camera and an IMU at speeds of 4.5 m/s, accelerations of over 1.5 g, roll and pitch angles of up to 90   $^\circ$  , and angular rate of up to 800   $^\circ$  /s without requiring any structure in the environment; 2) planning of dynamically feasible three-dimensional trajectories for slalom paths and flights through narrow windows; and 3) extensive experimental results showing aggressive flights through and around obstacles with large rotation angular excursions and accelerations.
['Giuseppe Loianno', 'Chris Brunner', 'Gary G. McGrath', 'Vijay Kumar']
Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU