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Tracking Multiple Unmanned Aerial Vehicles on SE(3) Using a..:

Petersen, Mark E. ; Ellingson, Jaron C. ; Beard, Randal W.
IEEE Transactions on Aerospace and Electronic Systems.  59 (2023)  4 - p. 3726-3735 , 2023
Link: https://doi.org/10.1109/taes.2022.3231245