A computationally efficient motion primitive for quadrocopter trajectory generation. Mueller, M. W; Hehn, M.; and D'Andrea, R. IEEE Trans. Robot., 31(6):1294–1310, IEEE, 2015.
bibtex   
@Article{SCC.Mueller.Hehn.ea2015,
  author    = {Mueller, Mark W and Hehn, Markus and D'Andrea, Raffaello},
  title     = {A computationally efficient motion primitive for quadrocopter trajectory generation},
  journal   = {IEEE Trans. Robot.},
  year      = {2015},
  volume    = {31},
  number    = {6},
  pages     = {1294--1310},
  file      = {SCC.Mueller.Hehn.ea2015.pdf:SCC.Mueller.Hehn.ea2015.pdf:PDF},
  keywords  = {DESI},
  publisher = {IEEE},
}
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