@article{oleynikova2020open, title={An open-source system for vision-based micro-aerial vehicle mapping, planning, and flight in cluttered environments}, author={Oleynikova, Helen and Lanegger, Christian and Taylor, Zachary and Pantic, Michael and Millane, Alexander and Siegwart, Roland and Nieto, Juan}, journal={Journal of Field Robotics}, volume={37}, number={4}, pages={642--666}, year={2020}, publisher={Wiley Online Library} }