This project is a part of the COLIBRI project, which aims at building a robot mimicking the flight of a natural hummingbird. The objective of the research is to integrate appropriate sensors (such as vision-based sensors) to the COLIBRI control board in order to, in one hand, increase the accuracy of the hovering flight and, on the other hand, utilize it as a navigation system to perform desired trajectories. Then a control algorithm will be developed to process the real-time signal obtained by the integrated sensor in order to steer the robot through the desired trajectory. The performance of the proposed control algorithm including sensor integration will be evaluated by flight experiments.