@article{wang2020alternating,
  title={Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight},
  author={Wang, Zhepei and Zhou, Xin and Xu, Chao and Chu, Jian and Gao, Fei},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={3},
  pages={4836-4843},
  year={2020},
  publisher={IEEE}
}