Zhang , BiaoXiao , PengLiu , HongliangMa , MingyueWang , Qian and Mao , Zhi. (2018). Quadrotor Convergence Trajectory Optimization Model Based on Minimum Energy Consumption. Advances in Applied Mathematics and Mechanics. 10 (3). 673-689. doi:10.4208/aamm.OA-2017-0059