@article{anadaptivepidautotunerformulticopters,
  title = {An Adaptive PID Autotuner for Multicopters with Experimental Results},
  author = {John Spencer and Joonghyun Lee and Juan Augusto Paredes and Ankit Goel and Dennis Bernstein},
  year = {2021},
  eprint = {2109.12797},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.12797v1},
}