Common birds, like the pigeon shown here,
exhibit grace and precision in flight
that far exceeds our best robotic capabilities.
Inspired by these maneuvers, we have
built an autonomous aircraft capable of fast,
accurate, and repeatable flight.
Utilizing motion capture for feedback control,
we demonstrate this system by flying
through a gap that is smaller than the aircraft's wingspan.
Accurate control in these flight regimes
is difficult because of the complex airflow induced
at high angles of attack.
We capture 120 frames per second onboard video for use
in studying machine vision.
Here, we demonstrate avoiding vertical and horizontal
Finally, we show these videos in real-time.