@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}
}
