@Article{KhatibYokoiChangEtAl1996,
  Title                    = {Coordination and Decentralized Cooperation of Multiple Mobile Manipulators},
  Author                   = {O. Khatib and K. Yokoi and K. Chang and D. Ruspini and R. Holmberg and and A. Casal},
  Journal                  = {Journal of Robotic Systems},
  Year                     = {1996},
  Pages                    = {755-764},
  Volume                   = {13(11)}
}

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