MAVFI: An end-to-end fault analysis framework with anomaly detection and recovery for micro aerial vehicles - Yu-Shun Hsiao; Zishen Wan; Tianyu Jia; Radhika Ghosal; Abdulrahman Mahmoud; Arijit Raychowdhury; David Brooks; Gu-Yeon Wei; Vijay Janapa Reddi (Design, Automation and Test in Europe (DATE), 2023)