Vítor M. F. Santos, Leonardo de Mello Honório, António Paulo Gomes Mendes Moreira, Filipe Silva 0001, Vinicius F. Vidal. Fast Real-Time Control Allocation Applied to Over-Actuated Quadrotor Tilt-Rotor. Journal of Intelligent and Robotic Systems, 102(3):65, 2021. [doi]
Abstract is missing.