Formation flying control via elliptical virtual structure. - Arthur Kahn; Julien Marzat; Hélène Piet-Lahanier (ICNSC, 2013)

Cooperative Guidance of Lego Mindstorms NXT Mobile Robots. - Julien Marzat; Hélène Piet-Lahanier; Arthur Kahn (ICINCO (2), 2014)