@inproceedings{AhmadNCML2013, title = {Perception-driven multi-robot formation control}, author = {Ahmad, A and Nascimento, T and Conceicao, AGS and Moreira, AP and Lima, P}, pages = {1851-1856}, publisher = {IEEE}, month = may, year = {2013}, doi = {10.1109/ICRA.2013.6630821}, month_numeric = {5} }