Stephen Kloder, Seth Hutchinson. Path planning for permutation-invariant multirobot formations. IEEE Transactions on Robotics, 22(4):650-665, 2006. [doi]
@article{KloderH06,
title = {Path planning for permutation-invariant multirobot formations},
author = {Stephen Kloder and Seth Hutchinson},
year = {2006},
doi = {10.1109/TRO.2006.878952},
url = {http://dx.doi.org/10.1109/TRO.2006.878952},
researchr = {https://researchr.org/publication/KloderH06},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {22},
number = {4},
pages = {650-665},
}