Here is a list of scientific publications which featured the Crazyflie (sorted by year):

• J. Tosteberg and T. Axelsson, “Development of a wireless video transfer system for remote control of a lightweight UAV,” Master’s thesis, Linköping University, Sweden, June 2012. PDF
• O. M. W. Dunkley, “Visual inertial control of a nano-quadrotor,” Master’s thesis, Technical University Munich, Germany, Sept. 2014. PDF Code
• O. Dunkley, J. Engel, J. Sturm, and D. Cremers, “Visual-inertial navigation for a camera-equipped 25g nano-quadrotor,” in IROS2014 Aerial Open Source Robotics Workshop, 2014. PDF Video
• B. Landry, “Planning and Control for Quadrotor Flight through Cluttered Environments,” Master's thesis, Massachusetts Institute of Technology, USA, June 2015. PDF Video Code
• W. Hönig, C. Milanes, L. Scaria, T. Phan, M. Bolas, and N. Ayanian, “Mixed Reality for Robotics”, IROS, 2015. Video

• ROS