Haomiao Huang Gabriel M. Hoffmann Steven Lake Waslander Claire J. Tomlin Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering. 3277-3282 2009 ICRA http://dx.doi.org/10.1109/ROBOT.2009.5152561 conf/icra/2009 db/conf/icra/icra2009.html#HuangHWT09