Density control for decentralized autonomous agents with conflict avoidance. Demir, N., Açı kmeşe , B., & Pehlivantürk, C. IFAC Proceedings Volumes, 47(3):11715–11721, Elsevier, 2014.
bibtex   
@article{demir2014density,
  title={Density control for decentralized autonomous agents with conflict avoidance},
  author={Demir, Nazl{\i} and A\c{c}\i kme\c{s}e, Beh\c{c}et and Pehlivant{\"u}rk, Can},
  journal={IFAC Proceedings Volumes},
  volume={47},
  number={3},
  pages={11715--11721},
  year={2014},
  publisher={Elsevier}
}

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