M Jaffar, Mohamed KhalidOtte, MichaelThis paper proposes a novel algorithm for a quadrotor to replan its motion in the event of one, two or three rotor loss. Further, during the course of its replanned trajectory, the MAV avoids collision with static obstacles including the ground.Fault-tolerant controlSampling-based motion planningFeedback motion planningQuadrotorsOptimal controlArticle