Paper  bibtex   

@inproceedings{ ryan_modular_2006,
  title = {A modular software infrastructure for distributed control of collaborating {UAVs}},
  url = {http://arc.aiaa.org/doi/pdf/10.2514/6.2006-6455},
  urldate = {2013-09-24},
  booktitle = {{AIAA} Guidance, Navigation, and Control Conference, Keystone, {CO}},
  author = {Ryan, Allison and Xiao, Xiao and Rathinam, Sivakumar and Tisdale, John and Zennaro, Marco and Caveney, Derek and Sengupta, Raja and Hedrick, J. Karl},
  year = {2006}
}