@INPROCEEDINGS{Verboom2015AttitudeAltitudeEstimation, author={Verboom, J.L. and Tijmons, S. and De Wagter, C. and Remes, B. and Babu\v{s}ka, R. and de Croon, G.C.H.E.}, booktitle={Proceedings 2015 IEEE International Conference on Robotics and Automation ({ICRA})}, title={Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle}, year={2015}, pages={5846--5851}, month=may }