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Zhao, W. et al. (2020). Fault-Tolerant Control for the Formation of Multiple Unknown Nonlinear Quadrotors via Reinforcement Learning⁎This work was supported by the National Natural Science Foundation of China under Grants 61873012, 61503012, and 61633007, and the Office of Naval Research under Grant N00014-17-1-2239.. IFAC-PapersOnLine. 53 (2), pp. 2465-2470. [Online].