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  _____      ___      ______     ___      _  _   
 /  ___||   / _ \\   /_   _//   / _ \\   | \| || 
| // __    | / \ ||  `-| |,-   / //\ \\  |  ' || 
| \\_\ ||  | \_/ ||    | ||   |  ___  || | .  || 
 \____//    \___//     |_||   |_||  |_|| |_|\_|| 
  `---`     `---`      `-`'   `-`   `-`  `-` -`

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Text this: Safety-critical trajectory tracking control for quadrotors