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Transformable multirotor with two-dimensional multilinks: modeling, control, and motion planning for aerial transformation

Moju Zhao, Koji Kawasaki, Kei Okada, Masayuki Inaba. Transformable multirotor with two-dimensional multilinks: modeling, control, and motion planning for aerial transformation. Advanced Robotics, 30(13):825-845, 2016. [doi]

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