CCIBA*: An Improved BA* Based Collaborative Coverage Path Planning Method for Multiple Unmanned Surface Mapping Vehicles. - Yong Ma 002; Yujiao Zhao; Zhixiong Li 001; Huaxiong Bi; Jing Wang; Reza Malekian; Miguel Ángel Sotelo (IEEE Trans. Intell. Transp. Syst., 2022)