@article {nair2017event, title = {Event-Triggered Finite-Time Integral Sliding Mode Controller for Consensus-Based Formation of Multirobot Systems With Disturbances}, journal = {IEEE Transactions on Control Systems Technology}, number = {99}, year = {2017}, pages = {1{\textendash}9}, publisher = {IEEE}, author = {Nair, Ranjith Ravindranathan and Behera, Laxmidhar and Kumar, Swagat} }