A complementary filter for attitude estimation of a fixed-wing UAV. - Mark Euston; Paul William Coote; Robert E. Mahony; Jonghyuk Kim; Tarek Hamel (IROS, 2008)

Near-optimal deterministic filtering on the unit circle. - Paul William Coote; Jochen Trumpf; Robert E. Mahony; Jan C. Willems (CDC, 2009)