@InProceedings{He08ICRA, author = {Ruijie He and Sam Prentice and Nicholas Roy}, title = {Planning in Information Space for a Quadrotor Helicopter in a GPS-denied Environments}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2008)}, pages = {1814-1820}, year = {2008}, address = {Los Angeles, CA}, }