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This work is supported by National Science Foundation under Grant No. 2331781.The authors are with School of Manufacturing Systems and Networks, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, 85212, USA. Email: {vgaucher, wenlong.zhang}@asu.edu
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Quadrotor collision recovery gets a 24% speed boost and significantly improved accuracy thanks to a new dual quaternion framework that models impacts directly on the SE(3) manifold.