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Circular Formation Algorithms for Multiple Nonholonomic Mobile Robots: An Optimization-Based Approach

Jiahu Qin, Shuai Wang, Yu Kang, Qingchen Liu. Circular Formation Algorithms for Multiple Nonholonomic Mobile Robots: An Optimization-Based Approach. IEEE Transactions on Industrial Electronics, 66(5):3693-3701, 2019. [doi]

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