A computationally efficient approach to trajectory management for coordinated aerial surveillance,

D. J. P. G. K. V. . K. . M. . J. . I. J. Keller D. Thakur and V. Kumar, “A computationally efficient approach to trajectory management for coordinated aerial surveillance,” Unmanned Systems, vol. 1, iss. 1, pp. 59-74, 2013.