Jean-Christophe Zufferey Dario Floreano Matthijs van Leeuwen Tancredi Merenda Evolving Vision-Based Flying Robots. 592-600 2002 conf/bmcv/2002 Biologically Motivated Computer Vision http://link.springer.de/link/service/series/0558/bibs/2525/25250592.htm db/conf/bmcv/bmcv2002.html#ZuffereyFLM02