Multi Lyapunov Function Theorem Applied to a Mobile Robot Tracking a Trajectory in Presence of Obstacles. - Ahmed Benzerrouk; Lounis Adouane; Philippe Martinet; Nicolas Andreff (ECMR, 2009)

Navigation of multi-robot formation in unstructured environment using dynamical virtual structures. - Ahmed Benzerrouk; Lounis Adouane; Laurent Lequievre; Philippe Martinet (IROS, 2010)

Altruistic Distributed Target Allocation for Stable Navigation in Formation of Multi-Robot System. - Ahmed Benzerrouk; Lounis Adouane; Philippe Martinet (SyRoCo, 2012)

Obstacle avoidance controller generating attainable set-points for the navigation of Multi-Robot System. - Ahmed Benzerrouk; Lounis Adouane; Philippe Martinet (Intelligent Vehicles Symposium, 2013)

Stable navigation in formation for a multi-robot system based on a constrained virtual structure. - Ahmed Benzerrouk; Lounis Adouane; Philippe Martinet (Robotics Auton. Syst., 2014)