Multiple eyes in the skies: architecture and perception issues in the COMETS unmanned air vehicles project. - Aníbal Ollero; Simon Lacroix; Luis Merino; Jeremi Gancet; Johan Wiklund; Volker Remuss; Iker Veiga Perez; Luis G. Gutiérrez; Domingos Xavier Viegas; Miguel Angel González Benitez; Anthony Mallet; Rachid Alami 001; et al. (IEEE Robotics Autom. Mag., 2005)