@article {2021f-HamUsaSabStaTogFra, title = {Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation}, journal = {The International Journal of Robotics Research}, volume = {40}, year = {2021}, pages = {1015-1044}, doi = {10.1177/02783649211025998}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2021f-HamUsaSabStaTogFra.pdf}, author = {Mahmoud Hamandi and Federico Usai and Quentin Sabl{\'e} and Nicolas Staub and Marco Tognon and Antonio Franchi} }