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A 4D trajectory follower based on the 'Carrot chasing' algo..:

, In: 2020 International Conference on Unmanned Aircraft Systems (ICUAS),
Perez-Leon, Hector ; Acevedo, Jose Joaquin ; Maza, Ivan. - p. 1860-1867 , 2020
Link: https://doi.org/10.1109/ICUAS48674.2020.9213979