@conference{Bellingham02_CDC, 
	address = {Las Vegas, NV},
	author = {Bellingham, J. S. and Tillerson, M. and Alighanbari, M. and How, J. P.},
	booktitle = {IEEE Conference on Decision and Control (CDC)},
	keywords = {aircraft control; cooperative systems; integer programming; linear programming; path planning; probability; cooperative path planning; failure probability; integer programming; linear programming; optimization; survival probability; time-of flight; unmanned aerial vehicles},
	month = {10-13 December},
	pages = {2816-2822 vol.3},
	title = {Cooperative path planning for multiple {UAVs} in dynamic and uncertain environments},
	url = {http://acl.mit.edu/cdc02.html},
	volume = {3},
	year = {2002}
}