Bioinspired Engineering of Exploration Systems: A Horizon Sensor/Attitude Reference System Based on the Dragonfly Ocelli for Mars Exploration Applications. - Javaan S. Chahl; Sarita Thakoor; Naig Le Bouffant; Gert Stange; Mandyam V. Srinivasan; Butler Hine; Steven Zornetzer (J. Field Robotics, 2003)