[1] YUAN L P CHEN Z J ZHOU R et al. Decentralized control for simultaneous arrival of multiple UAVs［J］. ACTA Aeronautica et Astronautica Sinica 2010 31(4):797-805.
[2] ZENG J SHEN G Z YANG L Y.Timing problem for UAV online cooperated trajectory planning［J］.Journal of Nanjing University of Aeronautics & Astronautics 2009 41(3):334-338.
[3] DAI R JR COCHRAN J E.Path planning for multiple unmanned aerial vehicles by parameterized cornu-spirals［C］//American Control Conference,Hyatt Regency Riverfront St.Louis MO USA 2009:2391-2396.
[4] MCLAIN T W BEARD R W.Trajectory planning for coordinated rendezvous of unmanned air vehicles［C］//Proceedings of AIAA Guidance Navigation and Control Confe-rence Denver USA 2000:1247-1254.
[5] ZHANG T F YU L LU Y.Trajectory planning for coordinated rendezvous of unmanned air vehicles［J］.Fire Control & Command Control 2009 34(2):143-145.
[6] BEARD R W MCLAIN T W GOODRICH M A.Coordinated target assignment and intercept for unmanned air vehicles［J］.IEEE Transactions Robotics and Antomation 2002 18(6):911-922.
[7] MCLAIN T W CHANDLER R R RASMUSSEN S et al.Cooperative control of UAV rendezvous［C］//American Control Conference Arlington VA 2001:2309-2314.
[8] YUAN L P XIA J CHEN Z J.Survey of cooperative path planning for multiple UAVs［J］. Flight Dynamics 2009 27(5):1-5.
[9] BERG M D CHEONG O KREVELD M V et al.Computation geometry algorithms and application［M］.3rd ed.Berlin:Springer-Verlag 2008:1-276.
[10] SUGIHARA K.Laguerre voronoi diagram on the sphere［J］.Journal for Geometry and Graphics 2002 6(1):69-81.
[11] IMAI H LRI M MUROTA K.Voronoi diagram in the Laguerre geometry and its applications［J］.Siam J Comput 1985 14(1):93-105.
