UAV Formation Control: Theory and Application. - Brian D. O. Anderson; Baris Fidan; Changbin Yu; Dirk Walle (Recent Advances in Learning and Control, 2008)

Non-hierarchical UAV formation control for surveillance tasks. - Dirk van der Walle; Baris Fidan; Andrew Sutton; Changbin Yu; Brian D. O. Anderson (ACC, 2008)