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aggi
Here's a Hoverair following a cyclist through a forest. https://www.youtube.com/watch?v=bTLpNaWyosU
It doesn't have an obstacle avoidance function but in this instance it seems to have no trouble avoiding trees, perhaps because it's close to the owner. It doesn't have a controller but it has the ability to follow someone. This FAQ explains: https://www.indiegogo.com/projects/hover-x1-pocket-sized-self-flying-camera#/faq Perhaps it could fly itself in town without hitting lamp posts, buildings, buses etc ?
Here's one filming a skater in a city https://www.youtube.com/watch?v=9_4OeBJUSHA
Battery life is 11 mins. Enough for some interesting bike journeys in London?
A bonus for cyclists is that it folds in half and fits into a jersey pocket...
Perhaps pedestrians would be unbothered by it, as it's so small (125g) and the propellers are inside a cage.
It uses the palm of your hand for take off and landing.