The MAV has a 28-cm (11-in) wingspan and weighs just 20 grams, but can pack in a 4-gram stereo vision system consisting of two cameras and a processor, along with a 1-gram autopilot that incorporates a barometer, accelerometers and gyroscopes. It also has motors and a battery, the latter of which allows for flight times of about nine minutes. It is able to take off, maintain altitude and avoid obstacles without any human assistance, and with all sensing and processing taking place onboard the aircraft. Its vision system is sufficient for identifying obstacles and determining how far away they are – algorithms built into that system compensate for distortions caused by the flapping motion and the rolling shutter cameras. The Explorer can move throughout a room without running into things, it can't pass through openings such as doorways or windows.