Decentralized time-varying formation control for multi-robot systems. Antonelli, G., Arrichiello, F., Caccavale, F., & Marino, A. THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 33:1029–1043, 2014.
doi  bibtex   
@article{
	11580_36305,
	author = {Antonelli, Gianluca and Arrichiello, Filippo and Caccavale, F. and Marino, A.},
	title = {Decentralized time-varying formation control for multi-robot systems},
	year = {2014},
	journal = {THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH},
	volume = {33},
	doi = {10.1177/0278364913519149},
	pages = {1029--1043}
}

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