We are creating autonomous flying robots that are able to navigate in complex, three-dimensional environments with or without GPS with applications to search and rescue, first response and precision farming. The robots are quadrotors with onboard sensors and processors customized for state estimation, control and planning. They rely on a range of sensors that can include an IMU, cameras, a laser range scanner, an altimeter and a GPS sensor. The lab's smallest robot has a mass of 20 grams and is capable of navigating at 6 m/s in indoor environments. That’s about 53 Body lengths/second. Our largest robot is nearly 2 kgs and can navigate indoors or outdoors, through forests, buildings, and farms.