J.  Chen, Gauci, M., Li, W., Kolling, A., and Gross, R., ?Occlusion-Based Cooperative Transport with a Swarm of Miniature Mobile Robots?, IEEE Transactions on Robotics, vol. 31, no. 2, pp. 307?321, 2015.

W.  Li and Spong, M. W., ?Decomposition frameworks for cooperative manipulation of a planar rigid body with multiple unilateral thrusters?, Nonlinear Dynamics, vol. 79, pp. 31?46, 2014.

M.  Gauci, Chen, J., Li, W., Dodd, T. J., and Gross, R., ?Self-Organized Aggregation without Computation?, The International Journal of Robotics Research, vol. 33, no. 9, pp. 1145-1161, 2014.