Rigid-body modeling and nonlinear state estimation of an X-configuration quadrotor UAV based on the AscTec hummingbird platform. Natural and Applied Sciences International Journal (NASIJ), Peshawar, Pakistan, v. 7, n. 1, p. 140–165, 2026. Disponível em: https://ideapublishers.org/index.php/nasij/article/view/7.1.8. Acesso em: 18 sep. 2026.