The objective of the sFly project is to develop several small and safe helicopters which can fly autonomously in city-like enviroments and which can be used to assist humans in tasks like rescue and monitoring. sFly is funded by the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement 231855. Consortium includes ETH Zürich, Switzerland; INRIA: Institut National de Recherche en Informatique et en Automatique, France; TUC: Technical University of Crete, Greece; CSEM Centre Suisse d'Electronique et de Microtechnique SA, Switzerland; ATG: Ascending Technologies GMBH, Germany; and CERTH: Centre for Research and Technology, Hellas.