**Chapter 8**

[16] Mellinger D, Michael N, Kumar V. Trajectory generation and control for precise aggressive maneuvers with quadrotors. The International Journal of Robotics Research. 2012;**31**(5):664-674

*Robotics Software Design and Engineering*

[18] Randal Beard. Quadrotor dynamics

document, Brigham Young University, Provo, UT, USA, February 2008.

[19] Daniel Mellinger and Vijay Kumar. Minimum snap trajectory generation and control for quadrotors. In *2011 IEEE International Conference on Robotics and Automation*, pages 2520–2525. IEEE,

[20] Jian S Dai. Euler–Rodrigues formula variations, quaternion conjugation and intrinsic connections. Mechanism and Machine Theory, 92: 144–152, 2015.

[21] Felipe F. Martins and Manuel A. Rendón. Easyquadsim: Easy quadrotor

simulator. GitHub, 2019. URL

EasyQuadSim.

**120**

[17] Lee T, Leoky M, N Harris McClamroch. Geometric tracking control of a quadrotor uav on se (3). In Decision and Control (CDC). *49th IEEE Conference on*, pages 5420–5425. IEEE.

and control rev 0.1. Technical

*2010*;**2010**

2011.
