@conference {2020c-JacCorBicFra, title = {Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs}, booktitle = {2020 IEEE Int. Conf. on Robotics and Automation}, year = {2020}, month = {05/2020}, address = {Paris, France}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020c-JacCorBicFra.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020c-JacCorBicFra-preprint.pdf}, author = {Martin Jacquet and Gianluca Corsini and Davide Bicego and Antonio Franchi} }