Multi-rotor aircraft collision avoidance using partially observable Markov decision processes. Mueller, E. R. Ph.D. Thesis, Stanford University, 2016.
Multi-rotor aircraft collision avoidance using partially observable Markov decision processes [link]Paper  bibtex   
@PhdThesis{Mueller2016thesis,
  Title                    = {Multi-rotor aircraft collision avoidance using partially observable {M}arkov decision processes},
  Author                   = {Eric R. Mueller},
  School                   = {Stanford University},
  Year                     = {2016},

  Url                      = {http://purl.stanford.edu/rv444dz2833}
}
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