@article {82,
	title = {Decentralized time-varying formation control for multi-robot systems},
	journal = {The International Journal of Robotics Research},
	volume = {33},
	year = {2014},
	pages = {1029{\textendash}1043},
	author = {G.~Antonelli and F.~Arrichiello and F.~Caccavale and A.~Marino}
}
