@ARTICLE{brescianini2018trajectory, 
author={D. Brescianini and R. D’Andrea}, 
journal={IEEE Transactions on Robotics}, 
title={Computationally Efficient Trajectory Generation for Fully Actuated Multirotor Vehicles}, 
year={2018}, 
volume={34}, 
number={3}, 
pages={555-571}, 
keywords={aircraft control;autonomous aerial vehicles;feedback;helicopters;mobile robots;path planning;translational motion primitives;rotational motion primitives;high-level path planners;time-optimal trajectories;trajectory generation;multirotor vehicles;lightweight motion primitives;Trajectory;Vehicle dynamics;Real-time systems;Heuristic algorithms;Approximation algorithms;Angular velocity;Robots;Aerial robotics;motion control;trajectory generation}, 
doi={10.1109/TRO.2018.2813373}, 
ISSN={1552-3098}, 
month={June},
}