diff --git a/CITATION.cff b/CITATION.cff
new file mode 100644
index 0000000..0e28028
--- /dev/null
+++ b/CITATION.cff
@@ -0,0 +1,36 @@
+cff-version: "1.2.0"
+authors:
+- family-names: Böckmann
+  given-names: Arne
+- family-names: Machowinski
+  given-names: Janosch
+- family-names: Lodhi
+  given-names: Muhammad Haider Khan
+  orcid: "https://orcid.org/0009-0008-1199-3489"
+doi: 10.5281/zenodo.14236941
+message: If you use this software, please cite our article in the
+  Journal of Open Source Software.
+preferred-citation:
+  authors:
+  - family-names: Böckmann
+    given-names: Arne
+  - family-names: Machowinski
+    given-names: Janosch
+  - family-names: Lodhi
+    given-names: Muhammad Haider Khan
+    orcid: "https://orcid.org/0009-0008-1199-3489"
+  date-published: 2024-12-02
+  doi: 10.21105/joss.06983
+  issn: 2475-9066
+  issue: 104
+  journal: Journal of Open Source Software
+  publisher:
+    name: Open Journals
+  start: 6983
+  title: "ugv_nav4d: Advanced Multi-Surface Navigation for Unmanned
+    Ground Vehicles Using 4D Path Planning Techniques"
+  type: article
+  url: "https://joss.theoj.org/papers/10.21105/joss.06983"
+  volume: 9
+title: "ugv_nav4d: Advanced Multi-Surface Navigation for Unmanned Ground
+  Vehicles Using 4D Path Planning Techniques"