Decentralized centroid and formation control for multi-robot systems. Antonelli, G., Arrichiello, F., Caccavale, F., & Marino, A. 2013.
doi  bibtex   
@conference{
	11580_36310,
	author = {Antonelli, Gianluca and Arrichiello, Filippo and Caccavale, F. and Marino, A.},
	title = {Decentralized centroid and formation control for multi-robot systems},
	year = {2013},
	publisher = {IEEE},
	address = {Karlsruhe, D},
	booktitle = {Proceedings 2013 IEEE International Conference on Robotics and Automation},
	doi = {10.1109/ICRA.2013.6631068},
	isbn = {978-1-4673-5641-1},	
	pages = {3496--3501}
}

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