E. Martins Araujo Filho and J. V. da Fonseca Neto, “Multiagent LQR-based Control Design and Gain tuning for Quadcopters Fleet”, Int J Innov Educ Res, vol. 11, no. 1, pp. 147–164, Jan. 2023, doi: 10.31686/ijier.vol11.iss1.4066.