Automatic Take Off, Hovering and Landing Control for Miniature Helicopters with Low-Cost Onboard Hardware. - Karl Engelbert Wenzel; Andreas Zell (AMS, 2009)

Flyphone: Visual Self-Localisation Using a Mobile Phone as Onboard Image Processor on a Quadrocopter. - Sara Erhard; Karl Engelbert Wenzel; Andreas Zell (J. Intell. Robotic Syst., 2010)

Low-Cost Visual Tracking of a Landing Place and Hovering Flight Control with a Microcontroller. - Karl Engelbert Wenzel; Paul Rosset; Andreas Zell (J. Intell. Robotic Syst., 2010)

Automatic Take Off, Tracking and Landing of a Miniature UAV on a Moving Carrier Vehicle. - Karl Engelbert Wenzel; Andreas Masselli; Andreas Zell (J. Intell. Robotic Syst., 2011)

Visual tracking and following of a quadrocopter by another quadrocopter. - Karl Engelbert Wenzel; Andreas Masselli; Andreas Zell (IROS, 2012)

A Cross-Platform Comparison of Visual Marker Based Approaches for Autonomous Flight of Quadrocopters. - Andreas Masselli; Shaowu Yang; Karl Engelbert Wenzel; Andreas Zell (J. Intell. Robotic Syst., 2014)

Quadrocopters with Microcontroller-Based Autonomy. - Karl Engelbert Wenzel (Verlag Dr. Hut, 2014)