@article {2018a-MicRylFra, title = {Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness}, journal = {IEEE Trans. on Robotics}, volume = {34}, year = {2018}, month = {06/2018}, doi = {10.1109/TRO.2018.2821155}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018a-MicRylFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/video1_explaination.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/video2_triggered_failures.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/video3_hitting_failures.mp4}, author = {Giulia Michieletto and Markus Ryll and Antonio Franchi} }