Mahmoud HamandiFederico UsaiQuentin SabléNicolas StaubMarco TognonAntonio FranchiDesign of multirotor aerial vehicles: A taxonomy based on input allocation.202140Int. J. Robotics Res.8-9https://doi.org/10.1177/02783649211025998db/journals/ijrr/ijrr40.html#HamandiUSSTF21