diff --git a/CITATION.cff b/CITATION.cff
new file mode 100644
index 0000000..752aa9b
--- /dev/null
+++ b/CITATION.cff
@@ -0,0 +1,24 @@
+cff-version: 1.2.0
+message: "If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support."
+authors:
+  - family-names: Huber
+    given-names: Martin
+    orcid: https://orcid.org/0000-0003-4603-6773
+  - family-names: Mower
+    given-names: Christopher E.
+    orcid: https://orcid.org/0000-0002-3929-9391
+  - family-names: Ourselin
+    given-names: Sebastien
+    orcid: https://orcid.org/0000-0002-5694-5340
+  - family-names: Vercauteren
+    given-names: Tom
+    orcid: https://orcid.org/0000-0003-1794-0456
+  - family-names: Bergeles
+    given-names: Christos
+    orcid: https://orcid.org/0000-0002-9152-3194
+
+
+title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
+version: 1.4.2
+doi: 10.48550/arXiv.2311.12709
+date-released: 2023-12-29
diff --git a/README.md b/README.md
index 6ee6c07..36601e6 100644
--- a/README.md
+++ b/README.md
@@ -40,6 +40,20 @@ Do you use a different FRI version?
 ## License
 Please note that we distribute the CMake support under MIT license. Please note that third party libraries under `FRI-Client-SDK_Cpp.zip` are distributed under their respective license.
 
+## Citation
+If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support.
+
+```
+@misc{huber2023lbrstack,
+      title={LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots}, 
+      author={Martin Huber and Christopher E. Mower and Sebastien Ourselin and Tom Vercauteren and Christos Bergeles},
+      year={2023},
+      eprint={2311.12709},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO}
+}
+```
+
 ## Acknowledgements
 <img src="https://medicalengineering.org.uk/wp-content/themes/aalto-child/_assets/images/medicalengineering-logo.svg" alt="wellcome" height="45" width="65" align="left">