1. Principles of Robot Motion: Theory, Algorithms, and Implementations;Choset,2005
2. Position Estimation and Autonomous Travel by Mobile Robots in Natural Terrainhttp://www.ri.cmu.edu/pub_files/pub3/krofkov_eric_1997_2/krotkov_eric_1997_2.pdf
3. Integrated long-range UAV/UGV collaborative target tracking
4. Aerial shepherds: Coordination among uavs and swarms of robots;Chaimowicz,2007