This paper presents small flying robot with a rotary wing system and an autonomous guidance and control system. Nowadays, a small flying robot such as small/micro air vehicle (MAV) can play a significant role for human's reconnaissance mission. Small hovering robot will be able to approach a dangerous area where human cannot go. In addition, comparing with fixed wing type, it can continuously watch a certain fixed point by hovering in a specific area. This paper is concerned with small rotary wing flying robot (KU-Loiter) design, manufacturing and autonomous control of KU-Loiter.