Kien Ming Ng Jun Jiang Rui Peng Kim-Leng Poh Kwong Meng Teo Reliability of surveillance mission with unmanned aerial vehicles. 1554-1557 2011 IEEM http://dx.doi.org/10.1109/IEEM.2011.6118178 conf/ieem/2011 db/conf/ieem/ieem2011.html#NgJPPT11