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Flocking with Obstacle Avoidance: A New Distributed Coordination Algorithm Based on Voronoi Partitions

Magnus Lindhé, Petter Ögren, Karl Henrik Johansson. Flocking with Obstacle Avoidance: A New Distributed Coordination Algorithm Based on Voronoi Partitions. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain. pages 1785-1790, IEEE, 2005.

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