We discuss the guidance and control of the Samarai MAV—a single-winged, wholly rotating, biomimetic micro air vehicle developed at Lockheed Martin Advanced Technology Laboratories. Samarai is inspired by, and named after, the samara or maple seed Acer diabolicum Blume. It weighs 200 grams and consists of a single wing of radius 30 centimeters with an electric motor/propeller at the tip and torq...