@article{droeschel15-jfr-mod, title = {Multi-Layered Mapping and Navigation for Autonomous Micro Aerial Vehicles}, author = {Droeschel, D. and Nieuwenhuisen, M. and Beul, M. and Stueckler, J. and Holz, D. and Behnke, S.}, journal = {Journal of Field Robotics (JFR)}, volume = {33}, number = {4}, pages = {451-475}, year = {2016}, doi = {} }