Marins, João, Tauã Cabreira, Kristofer S.  Kappel, and Paulo Roberto Ferreira Jr.
"A Closed-form Energy Model for Multi-Rotors Based on the Dynamic of the Movement." <em>Anais do VIII Simpósio Brasileiro de Engenharia de Sistemas Computacionais,
Salvador, 2018</em>. SBC, 2018,  
pp.236-241.