# An MPC Formulation on $SO(3)$ for a Quadrotor With Bidirectional Thrust and Nonlinear Thrust Constraints

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4213421957](https://www.wikidata.org/wiki/openalex:W4213421957)  
**Source**: https://4ort.xyz/entity/an-mpc-formulation-on-so-3-for-a-quadrotor-with-bidirectional-thrust-and-nonlinear-thrust-constraints