Eq. (16-19) in Beard, R. (2008). Quadrotor Dynamics and Control Rev 0.1 . Technical Report Brigham Young University
Geretti, L., Sandretto, J. A. D., Althoff, M., Benet, L., Chapoutot, A., Collins, P., Duggirala, P. S., Forets, M.,800
Kim, E., Linares, U., Sanders, D. P., Schilling, C., & Wetzlinger, M. (2021). ARCH-COMP21 category report:801
Continuous and hybrid systems with nonlinear dynamics. In ARCH (pp. 32–54). EasyChair volume 80 of EPiC802
Series in Computing. doi:10.29007/2jw8
Currently, it is given as
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:We study the dynamics of a quadrotor as derived in [xxx]