Mixed-Integer Quadratic Program (MIQP) Trajectory Generation for Heterogeneous Quadrotor Teams,

D. Mellinger, A. Kushleyev, and V. Kumar, “Mixed-Integer Quadratic Program (MIQP) Trajectory Generation for Heterogeneous Quadrotor Teams,” in Proc. of the IEEE Int. Conference on Robotics and Automation, Minneapolis, MN, 2012.