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This video presents an autonomous 250 g quadrotor performing aggressive maneuvers using a qualcomm snapdragon flight and relying only on on-board computation and sensor capabilities. The control planning and estimation tasks are solved based on the information provided by a single camera and an IMU. We show aggressive trajectories around poles and narrow window gaps at different inclinations. Our system is able to traverse narrow gaps requiring accelerations up to 1.5 g and roll and pitch angles up to 90 de
