The following publications are possibly variants of this publication:
- Cooperative UAVs Mapping Complex Environment using 2D SplinegonSamuel B. Lazarus, Antonios Tsourdos, Brian A. White, Rafal Zbikowski, Peter M. G. Silson. icinco 2009: 413-416
- Terrain based co-operative UAV mapping of complex obstacles using 2-D splinegonSamuel B. Lazarus, Antonios Tsourdos, Brian A. White, Peter M. G. Silson, Al Savvaris, Camille Alain Rabbath, Nicolas Léchevin. ijicc, 5(3):248-292, 2012. [doi]
- Airborne Vehicle Mapping of Curvilinear Objects Using 2-D SplinegonSamuel B. Lazarus, Antonios Tsourdos, Brian A. White, Peter M. G. Silson, Rafal Zbikowski. tim, 59(7):1941-1954, 2010. [doi]