Experimental Validation of a Fault Tolerant Hexacopter with Tilted Rotors. Giribet, J. I., Pose, C. D., Ghersin, A. S., & Mas, I. International Journal of Electrical and Electronic Engineering & Telecommunications, 7(2):58–65, 2018.
Experimental Validation of a Fault Tolerant Hexacopter with Tilted Rotors [pdf]Paper  doi  bibtex   

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