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J. Escareno, A. Sanchez, O. Garcia and R. Lozano, “Modeling and Global Control of the Longitudinal Dynamics of a Coaxial Convertible Mini-UAV in Hover Mode,” Journal of Intelligent and Robotic Systems, Vol. 54, 2009, pp. 261-273. doi:10.1007/s10846-008-9265-y

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