# Fundamental Actuation Properties of Multirotors: Force–Moment Decoupling and Fail–Safe Robustness

> Research article (IEEE Transactions on Robotics, 2018) · cited 104× · AI/ML

**Wikidata**: [openalex:W2769180486](https://www.wikidata.org/wiki/openalex:W2769180486)  
**Source**: https://4ort.xyz/entity/fundamental-actuation-properties-of-multirotors-forcemoment-decoupling-and-failsafe-robustness