A.  Franchi, Masone, C., Grabe, V., Ryll, M., Bülthoff, H. H., and Giordano, P. Robuffo, ?Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering?, The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance, vol. 31, pp. 1504-1525, 2012.

A.  Franchi, Secchi, C., Ryll, M., Bülthoff, H. H., and Giordano, P. Robuffo, ?Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs.?, IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform, vol. 19, pp. 57-68, 2012.