A Graph–Based Collision–Free Distributed Formation Control Strategy. Falconi, R., Sabattini, L., Secchi, C., Fantuzzi, C., & Melchiorri, C. In Proceedings of the IFAC World Congress, volume 18, Milano, Italy, 2011.
doi  bibtex   
@Inproceedings{ifacwc2011,
	author = {R. Falconi and L. Sabattini and C. Secchi and C. Fantuzzi and C. Melchiorri},
	title  ={A Graph{--}Based Collision{--}Free Distributed Formation Control Strategy},
	year = {2011},
	volume ={18},
	part = {1},
	booktitle = {Proceedings of the IFAC World Congress},
	doi ={10.3182/20110828-6-IT-1002.02450},
	address={Milano, Italy}
}

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