Vertical Movement Control of Quad-thrust Aerial Robot - Design, Analysis and Experimental Validation. - Roman Czyba; Grzegorz Szafranski (ICINCO (2), 2011)

Managing System Architecture for Multi-Rotor Autonomous Flying Platform-Practical Aspects. - Grzegorz Szafranski; Wojciech Janusz; Roman Czyba (ICMMI, 2013)

Attitude and heading reference system based on 3D complementary filter. - Marian J. Blachuta; Rafal T. Grygiel; Roman Czyba; Grzegorz Szafranski (MMAR, 2014)

Identification of vertical VTOL movement model based on use of local linear models. - Roman Czyba; Wojciech Janusz; Grzegorz Szafranski (MMAR, 2014)

Data Fusion Algorithm for the Altitude and Vertical Speed Estimation of the VTOL Platform. - Marian J. Blachuta; Roman Czyba; Wojciech Janusz; Grzegorz Szafranski (J. Intell. Robotic Syst., 2014)

Design and Control of a Single Tilt Tri-Rotor Aerial Vehicle. - Roman Czyba; Grzegorz Szafranski; Andrzej Rys (J. Intell. Robotic Syst., 2016)