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},
	year         = 2013,
	booktitle    = {2013 IEEE International Conference on Robotics and Automation},
	pages        = {3511--3516},
	organization = {IEEE}
}

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