Error characterization in the vicinity of singularities in multi-robot cluster space control. - Ignacio Mas; Jose Acain; Ognjen Petrovic; Christopher Kitts (ROBIO, 2008)

Entrapment/escorting and patrolling missions in multi-robot cluster space control. - Ignacio Mas; Steven Li; Jose Acain; Christopher Kitts (IROS, 2009)