The Georgia Tech Aerial Robotics (GTAR) team has developed a system to compete in the International Aerial Robotics Competition, organized by the Association for Unmanned Vehicle Systems, International. The contest mission is divided into four levels. Level 1 is characterized by the need to fly an air vehicle under autonomous control for a distance of 3 kilometers. Level 2 requires an autonomous system to identify a building and open portals. Level 3 requires an autonomous system to enter a building and return a picture. Level 4 requires all levels to be completed by an autonomous system within 15 minutes. Each mission level must be completed before moving on to the next. In 2001, the team completed the first level of the overall mission, outperforming all other entrants and taking the lead in the contest, described here. In addition the GTAR approach to all levels of the contest mission is described.