1. The Complexity of Robot Motion Planning;Canny,1988
2. T. Schouwenaars, Safe Trajectory Planning of Autonomous Vehicles, PhD Thesis, Massachusetts Institute of Technology, Cambridge, USA, 2006.
3. R.E. Weibel, R.J. Hansman, Safety Considerations for Operation of Unmanned Aerial Vehicles in the National Airspace System, Technical Report ICAT-2005-1, MIT International Center for Air Transportation, Cambridge, MA, 2005.
4. United States Air Force, Unmanned Aircraft Systems Flight Plan 2009-2047, Technical Report, Headquarters, United States Air Force, UAS, 2009.
5. Multi-UAV convoy protection: an optimal approach to path planning and coordination;Ding;IEEE Transactions on Robotics,2010