J. A.  Preiss, Honig, W., Ayanian, N., and Sukhatme, G. S., ?Downwash-aware trajectory planning for large quadrotor teams?, in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017.

N.  Ayanian and Kumar, V., ?Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles?, IEEE Transactions on Robotics, vol. 26, no. 5, pp. 878 - 887, 2010.