Path Planning and Flight Controller Scheduling for an Autonomous Helicopter.

Magnus Egerstedt Tak-John Koo Frank Hoffmann Shankar Sastry Path Planning and Flight Controller Scheduling for an Autonomous Helicopter. 91-102 1999 conf/hybrid/1999 HSCC db/conf/hybrid/hscc99.html#EgerstedtKHS99 http://link.springer.de/link/service/series/0558/bibs/1569/15690091.htm