Hyunjin Choi, Youdan Kim, Yongwoo Lee, and Eung Tai Kim, “A Reactive Collision Avoidance Algorithm for Multiple Midair Unmanned Aerial Vehicles,” Transactions of the Japan Society for Aeronautical and Space Sciences, Vol. 56, No. 1, 2013, pp.15-24.
doi: https://doi.org/10.2322/tjsass.56.15