@ARTICLE{j.v.gomez2013planningrobotformations, TITLE = {Planning Robot Formations with Fast Marching Square including Uncertainty Conditions}, JOURNAL = {Robotics and Autonomous Systems}, VOLUME = {61}, NUMBER = {2}, PAGES = {137 - 152}, YEAR = {2013}, AUTHOR = {J.V. Gomez, A. Lumbier, S. Garrido, L. Moreno} }