Samir Bouabdallah Pierpaolo Murrieri Roland Siegwart Design and Control of an Indoor Micro Quadrotor. 4393-4398 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1302409 db/conf/icra/icra2004-5.html#BouabdallahMS04