Multirotor aerial vehicles: Modeling, estimation, and control of quadrotor

Robert Mahony*, Vijay Kumar, Peter Corke

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    1215 Citations (Scopus)


    This article provides a tutorial introduction to modeling, estimation, and control formultirotor aerial vehicles that includes the common four-rotor or quadrotor case.

    Original languageEnglish
    Article number6289431
    Pages (from-to)20-32
    Number of pages13
    JournalIEEE Robotics and Automation Magazine
    Issue number3
    Publication statusPublished - 2012

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