Original Research Published on 19 Feb 2021 UAV-UGV-UMV Multi-Swarms for Cooperative Surveillance in Multi-Robot Systems Daniel H. StolfiMatthias R. BrustGrégoire DanoyPascal Bouvry Frontiers in Robotics and AI doi 10.3389/frobt.2021.616950 22,384 views 57 citations