A Formation Control Approach to Adaptation of Contour-Shaped Robotic Formations. - Shahab Kalantar; Uwe R. Zimmer (IROS, 2006)

Tracking Environmental Isoclines Using Polygonal Formations of Submersible Autonomous Vehicles. - Shahab Kalantar; Uwe R. Zimmer (FSR, 2007)

Distributed shape control of homogeneous swarms of autonomous underwater vehicles. - Shahab Kalantar; Uwe R. Zimmer (Auton. Robots, 2007)

Scale-adaptive polygonal formations of submersible vehicles and tracking isocontours. - Shahab Kalantar; Uwe R. Zimmer (IROS, 2008)

Optima localization by vehicle formations imitating the Nelder-Mead simplex algorithm. - Shahab Kalantar; Uwe R. Zimmer (Auton. Robots, 2009)