Closed-curve path tracking for decentralized systems of multiple mobile robots. Sabattini, L., Secchi, C., & Fantuzzi, C. Journal of Intelligent and Robotic Systems (Springer), 71(1):109-123, 2013.
bibtex   
@article{jint2012,
author={L. Sabattini and C. Secchi and C. Fantuzzi},
journal={Journal of Intelligent and Robotic Systems (Springer)},
title={Closed-curve path tracking for decentralized systems of multiple mobile robots},
year={2013},
issn={0921-0296},
volume={71},
number={1},
pages={109-123},
ISSN={1573-0409}
}

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