@inproceedings{li2019vision,
  title={Vision-based formation control of a heterogeneous unmanned system},
  author={Li, Chenzui and Ren, Qinyuan and Chen, Fei and Li, Ping},
  booktitle={IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society},
  volume={1},
  pages={5299--5304},
  year={2019},
  organization={IEEE}
}