Marcel Bergerman Omead Amidi James Ryan Miller Nick Vallidis Todd Dudek Cascaded position and heading control of a robotic helicopter. 135-140 2007 IROS http://dx.doi.org/10.1109/IROS.2007.4399450 conf/iros/2007 db/conf/iros/iros2007.html#BergermanAMVD07