@Inproceedings{icra-22_Su-Lanzon,
 author       = "Su, Y.-H. and Lanzon, A.",
 title        = "Formation-containment tracking and scaling for multiple quadcopters with an application to choke-point navigation",
 booktitle    = "Proceedings of the 39th {IEEE} International Conference on Robotics and Automation",
 address      = "Philadelphia, PA, USA",
 pages        = "4908-4914",
 doi          = "10.1109/ICRA46639.2022.9812172",
 month        = may,
 year         = 2022}