A decentralized controller-observer scheme for multi-robot weighted centroid tracking. Antonelli, G., Arrichiello, F., Caccavale, F., & Marino, A. In 2011 IEEE/RSJ International conference on intelligent robots and systems, pages 2778–2783, 2011. IEEE.
bibtex   
@inproceedings{antonelli2011decentralized,
	title        = {A decentralized controller-observer scheme for multi-robot weighted centroid tracking},
	author       = {Antonelli, Gianluca and Arrichiello, Filippo and Caccavale, Fabrizio and Marino, Alessandro},
	year         = 2011,
	booktitle    = {2011 IEEE/RSJ International conference on intelligent robots and systems},
	pages        = {2778--2783},
	organization = {IEEE}
}

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