Modelling and control of a quad-rotor robot

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The role of propeller aerodynamics in the model of a quadrotor UAV (2009, background): “In [3], [4], a quadrotor has been proposed where flapping dynamics is taken in account, but where the rotors have the particularity to be connected to their motors through teetering hubs.”
The true role of accelerometer feedback in quadrotor control (2010, background): “Few authors explicitly consider other aerodynamic effects: [11] considers aerodynamic stability derivatives, but draw no clearcut conclusion about their importance; [12], [13] consider without physical motivation aerodynamic effects linear w.r.t. the quadrotor linear and angular velocities, but…”
Towards a navigation system for autonomous indoor flying (2009, background): “Many authors focused on the modeling and on the control of these vehicles [14], [16], [17], [4], with a particular emphasis on small helicopters.”
Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering (2009, methodology): “The X-4 Flyer project at the Australian National University considered the effects of blade flapping and attitude damping from rotor ascent/descent rates [9].”