@article {128, title = {Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation}, journal = {International Journal of Robotics Research}, volume = {40}, year = {2021}, month = {2021/05}, pages = {1015-1044}, chapter = {1015}, doi = {10.1177/02783649211025998}, author = {Mahmoud Hamandi and Federico Usai and Quentin Sabl{\'e} and Nicolas Staub and Marco Tognon and Antonio Franchi} }