Decentralized Connectivity Maintenance for Networked Lagrangian Dynamical Systems. Sabattini, L., Secchi, C., & Chopra, N. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 2433–2438, St. Paul, MN, USA, may, 2012.
doi  bibtex   
@Inproceedings{icra2012,
	author = {L. Sabattini and C. Secchi and N. Chopra},
	title  ={Decentralized Connectivity Maintenance for Networked Lagrangian Dynamical Systems},
	year = {2012},
	month={may},
volume={},
number={},
pages={2433{--}2438},
keywords={},
doi={10.1109/ICRA.2012.6224857},
ISSN={1050-4729},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	address = {St. Paul, MN, USA}
}

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