Data Fusion of the Quaternion and Non Linear Attitude Observer Applied to the Determination and Stabilization of a Mobile Robot. - Bernardino Benito Salmeron-Quiroz; Gerardo Villegas-Medina; José-Fermi Guerrero-Castellanos; J. R. Aguilar Sánchez; L. Castillo Bermúdez; Rodolfo Villalobos Martinez (Res. Comput. Sci., 2013)