Towards Palm-Size Autonomous Helicopters,
Bouabdallah, Samir, Bermes Christian, Grzonka Slawomir, Gimkiewicz Christiane, Brenzikofer Alain, Hahn Robert, Schafroth Dario, Grisetti Giorgio, Burgard Wolfram, and Siegwart Roland
, Journal of Intelligent & Robotic Systems, Volume 61, p.445-471, (2011)