Multi-camera visual servoing of a micro helicopter under occlusions. - Yuta Yoshihata; Kei Watanabe; Yasushi Iwatani; Koichi Hashimoto (IROS, 2007)

Image-Based Visual PID Control of a Micro Helicopter Using a Stationary Camera. - Kei Watanabe; Yuta Yoshihata; Yasushi Iwatani; Koichi Hashimoto (Adv. Robotics, 2008)