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J. G. Leishman, The Breguet-Richet Quad-Rotor Helicopter of 1907. http://www.enae.umd.edu/AGRC/Aero/Breguet.pdf.
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Arda Ozgur Kivrak, "Design of control systems for a quadrotor flight vehicle equipped with inertial sensors", Master's Thesis, Atilim University, 2006.
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FLIGHTLAB Model Editor manual. Advanced Rotorcraft Technology. Inc. 2008.
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