@Article{Faessler17ral,
  author        = {Matthias Faessler and Davide Falanga and Davide Scaramuzza},
  journal       = {{IEEE} Robotics and Automation Letters},
  title         = {Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive
                  Quadrotor Flight},
  year          = 2017,
  volume        = {2},
  number        = {2},
  pages         = {476--482},
  doi           = {10.1109/LRA.2016.2640362},
  issn          = {2377-3766},
  month         = apr
}