An Over-Actuated Multi-Rotor Aerial Vehicle With Unconstrained Attitude Angles and High Thrust Efficiencies
IEEE Robotics and Automation Letters (2021) - Comments
doi: 10.1109/lra.2021.3095035  issn: 2377-3766  issn: 2377-3774 

Pengkang Yu, Yao Su, Matthew J. Gerber, Lecheng Ruan, Tsu-Chin Tsao