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I4Copter : an adaptable and modular quadrotor platform:

, In: Proceedings of the 2011 ACM Symposium on Applied Computing,
Ulbrich, Peter ; Kapitza, Rüdiger ; Harkort, Christian.. - p. 380-386 , 2011
Link: https://dl.acm.org/doi/10.1145/1982185.1982267