@inproceedings{yang2021wholebody,
    title={Whole-Body Real-Time Motion Planning for Multicopters},
    author={Yang, Shaohui and He, Botao and Wang, Zhepei and Xu, Chao and Gao, Fei},
    address={Xi'an, China},
    booktitle={IEEE International Conference on Robotics and Automation},
    pages={9197-9203},
    year={2021},
    organization={IEEE}
}