@misc{xu2023quadcopter,
  title={Quadcopter Trajectory Time Minimization and Robust Collision Avoidance via Optimal Time Allocation},
  author={Zhefan Xu and Kenji Shimada},
  year={2023},
  eprint={2309.08544},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2309.08544}
}