@article{quadswarmamodularmultiquadrotorsimulator,
  title = {QuadSwarm: A Modular Multi-Quadrotor Simulator for Deep Reinforcement Learning with Direct Thrust Control},
  author = {Zhehui Huang and Sumeet Batra and Tao Chen and Rahul Krupani and Tushar Kumar and Artem Molchanov and Aleksei Petrenko and James A. Preiss and Zhaojing Yang and Gaurav S. Sukhatme},
  year = {2023},
  eprint = {2306.09537},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.09537v1},
}