Abstract: As the perception, planning, and coordination technology going mature, autonomous robots are given higher expectations by people. Aerial robots, and their swarms, now are required not only to fly out of laboratory, but also to finish more complicated tasks. To this end, building smarter drones with sophisticated functionalities where perception and planning modules are coordinated or even coupled is an attractive research topic. In this talk, I will introduce some new methods of aerial robots developed in my group, by which we may broaden the application range and intelligence level of drones. Then, based on real-world requirements, some systematic solutions for specific tasks are presented, where the architecture, algorithms, engineering considerations, as well as closed-loop performances, are explained. Finally, I will turn to some of our most recent research, on which we are working towards a perception-planning coupled, flexibly coordinated, and large-scale aerial swarm system.