Coordinated commencement of pre-planned routes for fixed-wing UAS starting from arbitrary locations-a near real-time solution,

J. Keller, D. Thakur, V. Dobrokhodov, K. Jones, M. Likhachev, J. Gallier, I. Kaminer, and V. Kumar, “Coordinated commencement of pre-planned routes for fixed-wing UAS starting from arbitrary locations-a near real-time solution,” in Unmanned Aircraft Systems (ICUAS), 2014 International Conference on, 2014, p. 552–561.