@inbook {Viragh2016, title = {Self-organized UAV Traffic in Realistic Environments}, booktitle = {Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on}, year = {2016}, pages = {1645{\textendash}1652}, publisher = {IEEE}, organization = {IEEE}, address = {Daejeon, South Korea}, doi = {10.1109/IROS.2016.7759265}, author = {Csaba Vir{\'a}gh and M{\'a}t{\'e} Nagy and Carlos Gershenson and G{\'a}bor V{\'a}s{\'a}rhelyi} }