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Distributed Multi-Robot Navigation in Formation among Obstacles: A Geometric and Optimization Approach with Consensus

J. Alonso-Mora, Montijano, E., Schwager, M., and Rus, D., Distributed Multi-Robot Navigation in Formation among Obstacles: A Geometric and Optimization Approach with Consensus, in Proc. of the IEEE International Conference on Robotics and Automation (ICRA 16), Stockholm, Sweden, 2016, pp. 5356–5363.