@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}
}
