@article {GrGrBu11,
	title = {A Fully Autonomous Indoor Quadrotor},
	journal = {Robotics, IEEE Transactions on},
	volume = {28},
	number = {1},
	year = {2012},
	month = {feb.},
	pages = {90-100},
	issn = {1552-3098},
	doi = {10.1109/TRO.2011.2162999},
	author = {Grzonka, S. and Grisetti, G. and Burgard, W.}
}
