  We introduce a simple framework for learning aggressive maneuvers in flight
control of UAVs. Having inspired from biological environment, dynamic movement
primitives are analyzed and extended using nonlinear contraction theory.
Accordingly, primitives of an observed movement are stably combined and
concatenated. We demonstrate our results experimentally on the Quanser
Helicopter, in which we first imitate aggressive maneuvers and then use them as
primitives to achieve new maneuvers that can fly over an obstacle.
