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Bruno Gabrich, Guanrui Li, Mark Yim. ModQuad-DoF: A Novel Yaw Actuation for Modular Quadrotors. In 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, Paris, France, May 31 - August 31, 2020. pages 8267-8273, IEEE, 2020. [doi]