Finite-time formation control of multiple nonholonomic mobile robots. Ou, M., Du, H., & Li, S. Int. J. Robust Nonlinear Control, 24(1):140–165, Wiley Online Library, 2014.
bibtex   
@Article{SCC.Ou.Du.ea2014,
  author    = {Ou, Meiying and Du, Haibo and Li, Shihua},
  title     = {Finite-time formation control of multiple nonholonomic mobile robots},
  journal   = {Int. J. Robust Nonlinear Control},
  year      = {2014},
  volume    = {24},
  number    = {1},
  pages     = {140--165},
  publisher = {Wiley Online Library},
  timestamp = {2015-01-01},
}

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