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Hoffman, G.; Huang, H., Waslander, S.L., Tomlin, C.J. (20?23 August 2007). "Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment". In the Conference of the American Institute of Aeronautics and Astronautics. Hilton Head, South Carolina. http://hoffmann.stanford.edu/papers/Quadrotor_Dynamics_GNC07.pdf.
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