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A multi-UAV minimum time search planner based on ACOR:

, In: Proceedings of the Genetic and Evolutionary Computation Conference,
Perez-Carabaza, Sara ; Bermudez-Ortega, Julian ; Besada-Portas, Eva.. - p. 35-42 , 2017
Link: https://dl.acm.org/doi/10.1145/3071178.3071299