update README

README.md

@@ -1 +1,17 @@
-# quaternion-mpc
+# Quaternion MPC
+
+This repo is used for the quaternion MPC experiments.
+
+**Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots**, Zixin Zhang, John Z. Zhang, Shuo Yang, Zachary Manchester, [pdf](https://arxiv.org/abs/2409.09940)
+
+```
+@misc{zhang2024robotsattitudesingularityfreequaternionbased,
+      title={Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots}, 
+      author={Zixin Zhang and John Z. Zhang and Shuo Yang and Zachary Manchester},
+      year={2024},
+      eprint={2409.09940},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2409.09940}, 
+}
+```