Biao Zhang, Peng Xiao, Hongliang Liu, Mingyue Ma, Qian Wang & Zhi Mao. (2020). Quadrotor Convergence Trajectory Optimization Model Based on Minimum Energy Consumption.
Advances in Applied Mathematics and Mechanics. 10 (3).
673-689.
doi:10.4208/aamm.OA-2017-0059