E. Lanteigne and J. O’Reilly, "Multibody Dynamic Modeling and Control of an Unmanned Aerial Vehicle under Non Holonomic Constraints", 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020, pp. 316-321, doi: 10.1109/ICUAS48674.2020.9213950.

J. O'Reilly, "Performance Metrics and Their Application to Legged Robots", Undergraduate Research Thesis, 2020. Note: while the list of and comparison between performance metrics may be of some value, the example provided (modelling and simulation) is massively flawed, so please pay it no heed.