We've previously featured Penn's AscTec quadrotors doing aggressive maneuvers; now you can see them out and about doing "Autonomous Multi-Floor Indoor Navigation with a Computationally Constrained MAV":
All of the computation is done onboard the 1.6Ghz Intel Atom processor and uses ROS for interprocess communication.
Credit: Shaojie Shen, Nathan Michael, and Vijay Kumar
Update: the GRASP lab also has the quadrotors running through thrown hoops:
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