Coverage search strategies for moving targets using  multiple unmanned aerial vehicle teams
XUAN Yong-bo,HUANG Chang-qiang,WU Wen-chao,YU Wen-bo,WANG Yong,WENG Xing-wei
Journal of Systems Engineering and Electronics . 2013, (3): 539 -544 .  DOI: 10.3969/j.issn.1001-506X.2013.03.15