Planning in information space for a quadrotor helicopter in a GPS-denied environment.

Ruijie He Sam Prentice Nicholas Roy Planning in information space for a quadrotor helicopter in a GPS-denied environment. 1814-1820 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543471 conf/icra/2008 db/conf/icra/icra2008.html#HePR08