@article {152,
	title = {Modeling and Optimal Centralized Control of a Large-Size Robotic Population},
	journal = {IEEE Transactions on Robotics},
	volume = {22},
	year = {2006},
	month = {12/2006},
	pages = {1280-1285},
	author = {Dejan Milutinovi{\'c} and Pedro Lima}
}
