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Kanellakis, C. et al. (2020). Vision-driven NMPC for Autonomous Aerial Navigation in Subterranean Environments⁎This work has been funded by the European Unions Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 730302 SIMS.. IFAC-PapersOnLine. 53 (2), pp. 9288-9294. [Online].