DARPA’s Fast Lightweight Autonomy (FLA) program recently completed Phase 2 flight tests, demonstrating advanced algorithms designed to turn small air and ground systems into team members that can autonomously perform tasks that are dangerous for humans – such as pre-mission reconnaissance in a hostile urban setting or searching damaged structures for survivors following an earthquake. Building on Phase 1 flight tests conducted in 2017, FLA researchers refined their software and adapted commercial sensors to achieve greater performance with smaller, lighter quadcopters. Conducted in a mock town at the Guardian Centers training facility in Perry, Georgia, aerial tests showed significant progress in urban outdoor as well as indoor autonomous flight scenarios, including: 1) Flying at increased speeds between multi-story buildings and through tight alleyways while identifying objects of interest; 2) Flying through a narrow window into a building and down a hallway searching rooms and creating a 3-D map of the interior; and 3) Identifying and flying down a flight of stairs and exiting the building through an open doorway.