Formation stabilization of multiple agents using decentralized navigation functions. Tanner, H. G. & Kumar, A. In Robot. Sci. Syst. Conf., volume I, pages 49–56, Cambridge, MA, 2005.
bibtex   
@InProceedings{SCC.Tanner.Kumar2005,
  author    = {Tanner, H. G. and Kumar, A.},
  title     = {Formation stabilization of multiple agents using decentralized navigation functions},
  booktitle = {Robot. Sci. Syst. Conf.},
  year      = {2005},
  volume    = {I},
  pages     = {49--56},
  address   = {Cambridge, MA},
  owner     = {tenghu},
  timestamp = {2013.09.22},
}

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