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 __   _      ___     _    _      ___     __   __  
| || | ||   / _ \\  | |  | ||   / _ \\   \ \\/ // 
| '--' ||  | / \ || | |/\| ||  | / \ ||   \   //  
| .--. ||  | \_/ || |  /\  ||  | \_/ ||   / . \\  
|_|| |_||   \___//  |_// \_||   \___//   /_//\_\\ 
`-`  `-`    `---`   `-`   `-`   `---`    `-`  --`

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