G. Orfanidis, S. Apostolidis, A. Kapoutsis, K. Ioannidis, E. Kosmatopoulos, S. Vrochidis, I. Kompatsiaris, “Autonomous swarm of heterogeneous robots for surveillance operations“, in Proceedings of the Workshop on Vision-enabled UAV and counter-UAV technologies for surveillance and security of critical infrastructures (UAV4S), Thessaloniki, Greece, 2019.