@article{long_su_shi_zuo_li_2021, 
author={Long, Yang and Su, Yixin and Shi, Binhua and Zuo, Zheming and Li, Jie},
title={A Multi-subpopulation Bacterial Foraging Optimisation Algorithm with Deletion and Immigration Strategies for Unmanned Surface Vehicle Path Planning},
DOI={10.1007/s11370-021-00361-y}, 
journal={Intelligent Service Robotics}, 
publisher={Springer},  
year={2021}, 
pages={1–10},}