Swarm aggregation with a multi-robot system composed of three robotic units: A closed form analysis. Depouhon, C.; Masciotta, M.; Garone, E.; and Gasparri, A. In 22nd Mediterranean Conference on Control and Automation, Palermo, Italy, June 16-19, 2014, pages 1128–1133, 2014. IEEE.
Swarm aggregation with a multi-robot system composed of three robotic units: A closed form analysis [link]Paper  doi  bibtex   
@inproceedings{DBLP:conf/med/DepouhonMGG14,
  author    = {Celine Depouhon and
               Matteo Masciotta and
               Emanuele Garone and
               Andrea Gasparri},
  title     = {Swarm aggregation with a multi-robot system composed of three robotic
               units: {A} closed form analysis},
  booktitle = {22nd Mediterranean Conference on Control and Automation, Palermo,
               Italy, June 16-19, 2014},
  pages     = {1128--1133},
  publisher = {{IEEE}},
  year      = {2014},
  url       = {https://doi.org/10.1109/MED.2014.6961526},
  doi       = {10.1109/MED.2014.6961526},
  timestamp = {Wed, 16 Oct 2019 14:14:56 +0200},
  biburl    = {https://dblp.org/rec/conf/med/DepouhonMGG14.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}
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