Paper  bibtex   

@inproceedings{ girard_border_2004,
  title = {Border patrol and surveillance missions using multiple unmanned air vehicles},
  volume = {1},
  url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1428713},
  urldate = {2013-09-24},
  booktitle = {Decision and Control, 2004. {CDC.} 43rd {IEEE} Conference on},
  author = {Girard, Anouck R. and Howell, Adam S. and Hedrick, J. Karl},
  year = {2004},
  pages = {620–625}
}