A decentralized two-layer architecture for kinematic control of multi-arm systems. Basile, F.; Caccavale, F.; Chiacchio, P.; Coppola, J.; and Marino, A.
bibtex   
@article{basiledecentralized,
  title={A decentralized two-layer architecture for kinematic control of multi-arm systems},
  author={Basile, Francesco and Caccavale, Fabrizio and Chiacchio, Pasquale and Coppola, Jolanda and Marino, Alessandro}
}
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