@inproceedings{inproceedingsa0130207,
title   = {Architecture-independent quaternion-based attitude planning and control allocation for multirotors},
author = {Farçoni, Leonardo Borges and Terra, Marco Henrique and Inoue, Roberto Santos},
year = {2019},
doi = {10.1109/ICUAS.2019.8797723},
publisher = {IEEE},
booktitle   = {International Conference on Unmanned Aircraft Systems - ICUAS}
}