This paper presents a Miniature Aerial Vehicle (MAV) capable of hands-off autonomous operation within indoor environments. Our prototype is a Quadrotor weighing approximately 600g, with a diameter of 550mm, which carries the necessary electronics for stability control, altitude control, collision avoidance and anti-drift control. This MAV is equipped with three rate gyroscopes, three accelerometers, one ultrasonic sensor, four infrared sensors, a high-speed motor controller and a flight computer. Autonomous flight tests have been carried out in a 7x6-m room.