Robust controller design for formation flight of quad-rotor helicopters. - Ulf Pilz; Andrey P. Popov; Herbert Werner (CDC, 2009)

Local controller synthesis for Multi-Agent Systems subject to time-varying communication delays. - Ulf Pilz; Herbert Werner (CDC, 2010)

Quadrocopter Localization Using RTK-GPS and Vision-Based Trajectory Tracking. - Ulf Pilz; Willem Gropengießer; Florian Walder; Jonas Witt; Herbert Werner (ICIRA (1), 2011)

An ℌ∞/ℓ1 approach to cooperative control of multi-agent systems. - Ulf Pilz; Herbert Werner (CDC, 2012)

Model Identification and ℋ∞ Attitude Control for Quadrotor MAV's. - Ole Falkenberg; Jonas Witt; Ulf Pilz; Uwe Weltin; Herbert Werner (ICIRA (2), 2012)

Convergence speed in formation control of multi-agent systems - A robust control approach. - Ulf Pilz; Herbert Werner (CDC, 2013)