@INPROCEEDINGS{ist:montenbruck15h,
  author = {Montenbruck, J. M. and Zelazo, D. and Allg{\"o}wer, F.},
  title = {Retraction Balancing and Formation Control},
  booktitle = {Proc.\ 54th IEEE Conf.\ Decision and Control (CDC)},
  year = {2015},
  pages = {3645-3650},
  address = {Osaka, Japan}
}