Decentralized time-varying formation control for multi-robot systems. Antonelli, G., Arrichiello, F., Caccavale, F., & Marino, A. The International Journal of Robotics Research, 33(7):1029–1043, SAGE Publications Sage UK: London, England, 2014.
bibtex   
@article{antonelli2014decentralized,
	title        = {Decentralized time-varying formation control for multi-robot systems},
	author       = {Antonelli, Gianluca and Arrichiello, Filippo and Caccavale, Fabrizio and Marino, Alessandro},
	year         = 2014,
	journal      = {The International Journal of Robotics Research},
	publisher    = {SAGE Publications Sage UK: London, England},
	volume       = 33,
	number       = 7,
	pages        = {1029--1043}
}

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