"Defence Research and Development Canada (DRDC) - Suffield, Medicine Hat, Alberta, needs to develop navigation and control algorithms enabling a small commercial off-the-shelf rotorcraft UAV (Draganfly X8) to execute simple autonomous behaviours thereby reducing the operator's control burden. To this end, an `autonomy package' that will subsume and build upon the sensing and control functions provided by the UAV's existing autopilot will be developed. The integration of the autonomy package with the autopilot will enable the provision of additional capabilities required for autonomous operation." The COllaboration Based Robotics and Automation (COBRA) Research Group, Department of Electrical and Computer Engineering at the University of New Brunswick (UNB) has developed Unmanned Aerial Vehicles (UAVs), Unmanned Ground Vehicles (UGVs), mobile robots, MASs for UGVs and autonomous underwater vehicles, and applied artificial intelligence applications. UNB has previously worked with DRDC - Suffield and DRDC - Atlantic in the development of control frameworks for heterogeneous ground vehicles and autonomy packages for autonomous underwater vehicles. We propose to develop sensing, perception, and navigation strategies for mini UAVs. An ``autonomy package'' will be developed for two Draganfly X8 rotorcrafts which will be integrated with a ground control station.