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  _____    _    _     _____      ___      ______  
 /  ___|| | || | ||  |__  //    / _ \\   /_____// 
| // __   | || | ||    / //    / //\ \\  `____ `  
| \\_\ || | \\_/ ||   / //__  |  ___  || /___//   
 \____//   \____//   /_____|| |_||  |_|| `__ `    
  `---`     `---`    `-----`  `-`   `-`  /_//     
                                         `-`

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Text this: PATH PLANNING AND FORMATION CONTROL VIA POTENTIAL FUNCTION FOR UAV QUADROTOR