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Idan Beck & Rohit Gupta built an autonomous helicopter for their final project (schematics/source included)...

"The purpose of this project was the design of a fully autonomous stabilization system intended for systems capable of intelligent programming and navigation. This means that the design focuses mainly on the control feedback systems that control the helicopter's motors that then provide lift to increase and decrease altitude, and produce a tilt about the helicopter's central vertical axis which would be used for stabilization and potentially lateral motion. We chose this project because it was an ambitious projected aimed to challenge us as well as provide a level of sophistication that would allow this project to be applicable not only as a semester project but to potentially be used in future projects." [via] - Link.

Related:

• Tiny RC helicopter - Link.
• PSP controlled Helicopter - Link.
• HOWTO - Build Your Own RC Helicopter - Link.
• First person model helicopter piloting... - Link.