COORDINATION AND CONTROL OF MULTIPLE UAVs

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Footstep planning on uneven terrain with mixed-integer convex optimization (2014, background): “, who constructed a mixed-integer linear program to plan UAV trajectories while avoiding obstacles [20].”
Decentralized overlapping control of a formation of unmanned aerial vehicles (2002, background): “Factors which make a UAV system a low cost alternative, such as rapid reconfigurability in the event of single point failures and dispensability of vehicles, also represents the main challenge from the control design perspective [4, 5, 12, 14].”
Multiple task assignments for cooperating uninhabited aerial vehicles using genetic algorithms (2006, methodology): “These algorithms are based on customized combinatorial optimization methods including: mixed integer linear programming (MILP) [5,6], the capacitated transhipment problem [3], and the iterative capacitated transhipment problem [7].”
Control of Multiple UAVs for Persistent Surveillance: Algorithm and Flight Test Results (2012, background): “[9], [28], [33] study the problem of cooperative path planning and trajectory optimization.”
Recent Research in Cooperative Control of Multivehicle Systems (2007, methodology): “An approximate method described in [39] is used to solve the problem in 27 seconds on a standard PC.”