This hack is part of the STARMAC Project in the Hybrid Systems Lab at UC Berkeley (EECS department Researcher: Patrick Bouffard. PI: Prof. Claire Tomlin). A Kinect camera is attached on a quadrotor copter. The quadrotor is programmed to fly through pre-defined way points, but not blind! The Kinect camera delivers the data to the 1.6 GHz Intel Atom based computer (running Linux of course - Ubuntu 10.04) using the ROS kinect driver and the OpenKinect/Freenect driver for hardware access. A VICON motion capture system is used to provide the other necessary degrees of freedom (lateral and yaw) and acts as a safety backup to the Kinect altitude–in case of a dropout in the altitude reading from the Kinect data, the VICON based reading is used instead.