I wanted to expand the capabilities of Parrot's ARDrone, so I've decided to implement Urbi in it.
I've thus written an Urbi driver that enables easy control and programming of the drone in urbiscript. That way, you can control any drone from any interface, be it a joystick, a wiimote, an inertial measurement unit, a keyboard or a mouse... Basically anything that connects to a PC running Windows, Linux or a Mac. You can also create your own graphical interface using the Gostai Lab software.
Here's the code of the ball-tracking script I've written here:
To download the sources, for more information or for other projects, you can also check http://www.psykokwak.com.