@incollection{Zhang11,
author = {Tao Zhang and Xiaqin Li and Yi Zhu and Song Chen and Yu Cheng and Jingyan Song},
title = {Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System},
booktitle = {Multi-Robot Systems},
publisher = {IntechOpen},
address = {Rijeka},
year = {2011},
editor = {Toshiyuki Yasuda},
chapter = {2},
doi = {10.5772/12904},
url = {https://doi.org/10.5772/12904}
}