@incollection{Mas11,
author = {Ignacio Mas and Christopher Kitts and Robert Lee},
title = {Model-Based Nonlinear Cluster Space Control of Mobile Robot Formations},
booktitle = {Multi-Robot Systems},
publisher = {IntechOpen},
address = {Rijeka},
year = {2011},
editor = {Toshiyuki Yasuda},
chapter = {4},
doi = {10.5772/12923},
url = {https://doi.org/10.5772/12923}
}