@Article{TRO-21_Hu-Bhowmick-Jang-Arvin-Lanzon,
 author       = "Hu, J. and Bhowmick, P. and Jang, I. and Arvin, F. and Lanzon, A.",
 title        = "A decentralized cluster formation containment framework for multirobot systems",
 journal      = "{IEEE} Transactions on Robotics",
 volume       = 37,
 number       = 6,
 pages        = "1936-1955",
 doi          = "10.1109/TRO.2021.3071615",
 month        = dec,
 year         = 2021}