Take a look at this incredible Omnicopter 'drone', that was developed by Dario Brescianini and Raffaello D'Andrea at the Institute for Dynamic Systems and Control (IDSC), ETH Zurich.
"We have developed a computationally efficient trajectory generator for six degrees-of-freedom multirotor vehicles, i.e. vehicles that can independently control their position and attitude. The trajectory generator is capable of generating approximately 500'000 trajectories per second that guide the multirotor vehicle from any initial state, i.e. position, velocity and attitude, to any desired final state in a given time. In this video, we show an example application that requires the evaluation of a large number of trajectories in real time."
