@article{basile2013decentralized,
	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},
	year         = 2013,
	journal      = {Mechatronics},
	publisher    = {Elsevier},
	volume       = 23,
	number       = 8,
	pages        = {1100--1112}
}

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