“…As an additional requirement, the quadrotor must reach a neighborhood of x w0 at the end of its motion. In order to fulfil this objective, we consider the final constraint (30) with c f,i (x wi (L)) as in (31), wherex wi,min = x wi,0 − tol i , x wi,max = x wi,0 + tol i , tol i is a given tolerance and x wi,0 is the i-th component of x w0 . Results are depicted in Figures 3, 4, 5.…”