Retraction Balancing and Formation Control. Montenbruck, J. M.; Zelazo, D.; and Allgöwer, F. In Proc.\ 54th IEEE Conf.\ Decision and Control (CDC), pages 3645-3650, Osaka, Japan, 2015.
bibtex   
@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}
}
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