Decentralized time-varying formation control for multi-robot systems. Arrichiello, G. A. F., Caccavale, F., & Marino, A. 2013.
bibtex   
@article{arrichiello2013decentralized,
	title        = {Decentralized time-varying formation control for multi-robot systems},
	author       = {Arrichiello, Gianluca Antonelli Filippo and Caccavale, Fabrizio and Marino, Alessandro},
	year         = 2013
}

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