@Article{Bachrach09IJMAV,
  author = 	 {A. Bachrach, R. He, N. Roy},
  title = 	 {Autonomous Flight in Unknown Indoor Environments},
  journal = 	 {International Journal of Micro Air Vehicles},
  year = 	 {2009},
  volume =	 {1},
  number =	 {4},
  pages =	 {217-228},
  month =	 {December},
}