Robust finite-time consensus tracking algorithm for multirobot systems. Khoo, S. & Xie, L. IEEE/ASME Trans. Mechatron., 14(2):219–228, 2009.
bibtex   
@Article{SCC.Khoo.Xie2009,
  author    = {Khoo, Suiyang and Xie, Lihua},
  title     = {Robust finite-time consensus tracking algorithm for multirobot systems},
  journal   = {IEEE/ASME Trans. Mechatron.},
  year      = {2009},
  volume    = {14},
  number    = {2},
  pages     = {219--228},
  owner     = {jklotz},
  timestamp = {2012.05.11},
}

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