In this paper, we propose an approach to autonomously control a quadrotor micro aerial vehicle (MAV). With take-off weight of 50 g and 8-min flight endurance, the MAV platform codenamed 'KayLion' developed by the National University of Singapore (NUS) is able to perform autonomous flight with pre-planned path tracking. The vision-based autonomous control is realized with a light weight camera system and an ultrasonic range finder integrated to the MAV. An optical flow algorithm is adopted and

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... ocessed on ground control station to provide position and velocity estimation of the MAV. A model-based position controller is implemented to realize autonomous flight.