Seunghoon Kang, Hyunjin Choi, and Youdan Kim, “Formation Flight and Collision Avoidance for Multiple UAVs using Concept of Elastic Weighting Factor,” International Journal of Aeronautical and Space Sciences, Vol. 14, No. 1, 2013, pp. 75-84.
doi: https://doi.org/10.5139/IJASS.2013.14.1.75