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Cited article:

Application of Piecewise Linear Approximation of the UAV Trajectory for Adaptive Routing in FANET

Kuzichkin Oleg R., Vasilyev Gleb S., Surzhik Dmitry I. and Kurilov Igor A.
Advances in Science, Technology and Engineering Systems Journal 6 (2) 559 (2021)
https://doi.org/10.25046/aj060263