@ARTICLE{d.alvarez20153drobotformations,
TITLE = {3D Robot Formations Path Planning with Fast Marching Square},
JOURNAL = { Journal of Intelligent and Robotic Systems},
VOLUME = {80},
NUMBER = {3},
PAGES = {507 - 523},
YEAR = {2015},
AUTHOR = {D. Alvarez, J.V. Gomez, S. Garrido, L. Moreno}
}