@article{aplanningframeworkforpersistentmultiuav,
  title = {A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction},
  author = {Tushar Kusnur and Shohin Mukherjee and Dhruv Mauria Saxena and Tomoya Fukami and Takayuki Koyama and Oren Salzman and Maxim Likhachev},
  year = {2019},
  eprint = {1908.09236},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1908.09236v3},
}