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Quadrotor helicopters have become increasingly important in recent years as platforms for both research and commercial unmanned aerial vehicle applications. This paper extends previous work on several important aerodynamic effects impacting quadrotor flight in regimes beyond nominal hover conditions. The implications of these effects on quadrotor performance are investigated and control techniques are presented that compensate for them accordingly. The analysis and control systems are validateddoi:10.1109/robot.2009.5152561 dblp:conf/icra/HuangHWT09 fatcat:7fj7e2s4mfaythcmkxahj55u6i