I just remembered where I saw that video before . . . it looked sooo familiar . . .
its a paper I read a few months ago, and i just uploaded it here:Maximizing Miniature Aerial Vehicles
Griffiths, S. Saunders, J. Curtis, A. Barber, B. McLain, T. Beard, R.
Scientific Syst. Co., Inc., Woburn, MA, USA
I highly recommend everyone interested in aerial robots to read it (its much more educational than the video).