Cooperative forest fire surveillance using a team of small unmanned air vehicles. Casbeer, D. W., Kingston, D. B., Beard, R. W., & McLain, T. W. Int. J. Syst. Sci., 37(6):351–360, Taylor & Francis, 2006.
bibtex   
@Article{SCC.Casbeer.Kingston.ea2006,
  author    = {Casbeer, David W. and Kingston, Derek B. and Beard, Randal W. and McLain, Timothy W.},
  title     = {Cooperative forest fire surveillance using a team of small unmanned air vehicles},
  journal   = {Int. J. Syst. Sci.},
  year      = {2006},
  volume    = {37},
  number    = {6},
  pages     = {351--360},
  publisher = {Taylor \& Francis},
  timestamp = {2015-01-01},
}
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