Decentralized centroid and formation control for multi-robot systems. Antonelli, G., Arrichiello, F., Caccavale, F., & Marino, A. In 2013 IEEE International Conference on Robotics and Automation, pages 3511–3516, 2013. IEEE.
bibtex   
@inproceedings{antonelli2013decentralized,
  title={Decentralized centroid and formation control for multi-robot systems},
  author={Antonelli, Gianluca and Arrichiello, Filippo and Caccavale, Fabrizio and Marino, Alessandro},
  booktitle={2013 IEEE International Conference on Robotics and Automation},
  pages={3511--3516},
  year={2013},
  organization={IEEE}
}

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