@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},
}