@INPROCEEDINGS{AyanianKumarICRA08, 
title={Decentralized feedback controllers for multi-agent teams in environments with obstacles}, 
author={Nora Ayanian and Vijay Kumar}, 
booktitle={IEEE Int. Conf. on Robotics and Automation}, 
year={2008}, 
month={May}, 
volume={}, 
number={}, 
pages={1936-1941}, 
keywords={collision avoidance, decentralised control, feedback, mobile robots, multi-robot systemsdecentralized feedback controllers, multiagent teams, multiple heterogeneous agents, nonholonomic agents}, 
doi={10.1109/ROBOT.2008.4543490}, 
ISSN={1050-4729}, }