D. L. Vinokursky, K. Yu. Ganshin, O. S. Mezentseva, Ph. V. Samoylov, “The planning of the trajectory of uav group with the performance of pythagorean hodograph and bernstein-bezier composite curves in the plane”, Vestnik KRAUNC. Fiz.-Mat. Nauki, 31:2 (2020), 70–78
