A decentralized fault tolerant control strategy for multi-robot systems. Arrichiello, F., Marino, A., & Pierri, F. IFAC Proceedings Volumes, 47(3):6642–6647, Elsevier, 2014.
bibtex   
@article{arrichiello2014decentralized,
	title        = {A decentralized fault tolerant control strategy for multi-robot systems},
	author       = {Arrichiello, Filippo and Marino, Alessandro and Pierri, Francesco},
	year         = 2014,
	journal      = {IFAC Proceedings Volumes},
	publisher    = {Elsevier},
	volume       = 47,
	number       = 3,
	pages        = {6642--6647}
}

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