Dual Quaternion Modeling and Control of a Quad-rotor Aerial Manipulator. - Hernán Abaunza; Pedro Castillo; Alessandro Corrêa Victorino; Rogelio Lozano (J. Intell. Robotic Syst., 2017)

Quadrotor Energy-Based Control Laws: a Unit-Quaternion Approach. - María Eusebia Guerrero-Sánchez; Hernán Abaunza; Pedro Castillo; Rogelio Lozano; Carlos D. García-Beltrán (J. Intell. Robotic Syst., 2017)

Pedestrian in the loop: An approach using flying drones. - Michael Hartmann; Hernán Abaunza; Pedro Castillo; Michael Stolz; Daniel Watzenig (I2MTC, 2018)

Design and Implementation of Distributed Path Planning Algorithm for a Fleet of UAVs. - Adel Belkadi; Hernán Abaunza; Laurent Ciarletta; Pedro Castillo; Didier Theilliol (IEEE Trans. Aerosp. Electron. Syst., 2019)

User-Robot Interaction for Safe Navigation of a Quadrotor. - L. F. Sánchez; Hernán Abaunza; Pedro Castillo (Robotica, 2020)

Quadrotor Aggressive Deployment, Using a Quaternion-Based Spherical Chattering-Free Sliding-Mode Controller. - Hernán Abaunza; Pedro Castillo (IEEE Trans. Aerosp. Electron. Syst., 2020)

A fully-actuated quadcopter representation using quaternions. - J. Cariño; Hernán Abaunza; Pedro Castillo (Int. J. Control, 2023)

Quadrotor Fleet Autonomous Navigation: Fusing Virtual Points Control and Nonlinear Potential Fields. - Hernán Abaunza; Pedro Castillo; Sergey V. Drakunov (IEEE Trans. Control. Syst. Technol., 2025)