@Article{He10IJRR,
  author = 	 {R. He and A. Bachrach and M. Achtelik and A. Geramifard and D. Gurdan and  S. Prentice and J. Stumpf and N. Roy},
  title = 	 {On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries},
  journal = 	 {International Journal of Robotics Research},
  year = 	 {2010},
  volume =	 {29},
  number =	 {5},
  pages =	 {529-546},
  month =	 {April},
}