Planning and control of UGV formations in a dynamic environment: a practical framework with experiments.

Yongxing Hao Benjamin Laxton Sunil Kumar Agrawal Edward Lee Eric Benson Planning and control of UGV formations in a dynamic environment: a practical framework with experiments. 1209-1214 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#HaoLALB03