@INPROCEEDINGS{7468982,
  author={Li, Xue-ren and Li, Bo and Zhang, Peng and Zhang, Jian-ye and Zhang, Shuai},
  booktitle={2015 8th International Symposium on Computational Intelligence and Design (ISCID)}, 
  title={Large-Scale Unmanned Aerial Vehicle Formation Maintenance Algorithm Based on Virtual Structure}, 
  year={2015},
  volume={1},
  number={},
  pages={417-421},
  doi={10.1109/ISCID.2015.5}}