@ARTICLE{p.lima2011robotformationsmotion,
TITLE = {Robot Formations Motion Planning using Fast Marching},
JOURNAL = {Robotics and Autonomous Systems. http://dx.doi.org/10.1016/j.robot.2011.05.011},
VOLUME = {59},
NUMBER = {9},
PAGES = {675 - 683},
YEAR = {2011},
AUTHOR = {P. Lima, S. Garrido, L. Moreno}
}