Quadrotor attitude estimation using adaptive fading multiplicative EKF. - Tor-Aleksander Johansen; Raymond Kristiansen (ACC, 2017)

Dual-quaternion backstepping control for a fully-actuated rigid-body. - Tom Stian Andersen; Tor-Aleksander Johansen; Raymond Kristiansen (ACC, 2018)

PD+ Based Trajectory Tracking of the Underactuated Quadrotor Platform using Dual Quaternions. - Tor-Aleksander Johansen; Tom Stian Andersen; Raymond Kristiansen (ACC, 2019)

Dual quaternion based trajectory tracking of underactuated multirotors. - Tor-Aleksander Johansen; Raymond Kristiansen (ECC, 2020)