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Trajectory planning for multi-UAVs using penalty sequential convex pro-gramming
WANG Zhu, LIU Li, LONG Teng, WEN Yonglu
ACTA AERONAUTICAET ASTRONAUTICA SINICA . 2016, (10): 3149 -3158 .  DOI: 10.7527/S1000-6893.2016.0064