@inbook {formationchapter, title = {Decentralized Formation Control in Fleets of Nonholonomic Robots with a Clustered Pattern}, booktitle = {Handling Uncertainty and Structure in Robot Control}, year = {2016}, pages = {313{\textendash}333}, publisher = {Springer}, organization = {Springer}, author = {Marcos-Cesar Bragagnolo and Constantin Morarescu and Lucian Busoniu and Pierre Riedinger}, editor = {Lucian Busoniu and Levente Tamas} }