GPS-based position control and waypoint navigation system for quadrocopters. - Tim Puls; Markus Kemper; Reimund Küke; Andreas Hein 001 (IROS, 2009)

3D trajectory control for quadrocopter. - Tim Puls; Andreas Hein 001 (IROS, 2010)

Lokalisations- und Regelungsverfahren für einen 4-Rotor-Helikopter. - Tim Puls (2011)