@PHDTHESIS{Trummer2011,
  author = {Rainer Trummer},
  title = {{Design and Implementation of the JAviator Quadrotor: An Aerial Software Testbed}},
  type = {{PhD} Thesis},
  school = {Department of Computer Sciences, University of Salzburg},
  address = {Salzburg, Austria},
  month = {May},
  year = {2011}
}