Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles. Ayanian, N. & Kumar, V. IEEE Transactions on Robotics, 26(5):878–887, 2010.
bibtex   
@article{Ayanian2010,
  added-at = {2020-05-24T20:36:48.000+0200},
  author = {Ayanian, N. and Kumar, V.},
  biburl = {https://www.bibsonomy.org/bibtex/2646a9f6402996bf7b1c9b15b821b525d/marcondg},
  interhash = {6117453188aae62eb46b6de79020a7d0},
  intrahash = {646a9f6402996bf7b1c9b15b821b525d},
  journal = {{IEEE} Transactions on Robotics},
  keywords = {sea},
  number = 5,
  pages = {878--887},
  timestamp = {2020-05-24T20:36:48.000+0200},
  title = {{Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles}},
  volume = 26,
  year = 2010
}

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