1. Beard, R.W., McLain, T.W.: Multiple UAV Cooperative Search under Collision Avoidance and Limited Range Communication Constraints. In: Proceedings of the 42nd IEEE Conference on Decision and Control, pp.25–30. Institute of Electrical and Electronics Engineers Inc., Maui, 9-12 December 2003
2. Sabine, H., Laurent, W., Jean-Christophe, Z., Dario, F.: Ant-based swarming with positionless micro air vehicles for communication relay. Swarm Intell. 2, 2–4 (2008)
3. Weihua, Z., Go, T.H.: 3-D formulation of formation flight based on model predictive control with collision avoidance scheme. In: 48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition. American Institute of Aeronautics and Astronautics Inc., Orlando, 4-7 January 2010
4. Zhao, W., Tiauw Hiong, G.: Robust decentralized formation flight control. Int. J. Aerosp. Eng. 157590, 157513 (2011). doi: 10.1155/2011/157590
5. Reynolds, C.W.: Flocks, herds, and schools: a distributed behavioral model. Comput. Graph. (ACM) 21(4), 25–34 (1987)