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Santiago Vera, Jose A. Cobano, David Alejo, Guillermo Heredia, Aníbal Ollero. Optimal conflict resolution for multiple UAVs using pseudospectral collocation. In 23rd Mediterranean Conference on Control and Automation, MED 2015, Torremolinos, Malaga, Spain, June 16-19, 2015. pages 28-35, IEEE, 2015. [doi]

The following publications are possibly variants of this publication:

Safe trajectory planning for multiple aerial vehicles with Segmentation-adaptive Pseudospectral collocationJose A. Cobano, S. Vera, Guillermo Heredia, Aníbal Ollero. icra 2015: 29-34 [doi]

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