Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU,

G. Loianno, C. Brunner, G. McGrath and V. Kumar, “Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU,” in IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 404-411, April 2017.