Connectivity preserving formation control with collision avoidance for nonholonomic wheeled mobile robots. - Aykut C. Satici; Hasan Poonawala; Hazen Eckert; Mark W. Spong (IROS, 2013)

Collision-Free Formation Control with Decentralized Connectivity Preservation for Nonholonomic-Wheeled Mobile Robots. - Hasan A. Poonawala; Aykut C. Satici; Hazen Eckert; Mark W. Spong (IEEE Trans. Control. Netw. Syst., 2015)