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Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory

Zhaoxia Peng, Guoguang Wen, Ahmed Rahmani, Yongguang Yu. Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory. Int. J. Systems Science, 46(8):1447-1457, 2015. [doi]

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