@inproceedings{AyanianIROS11,
        Address = {San Francisco, CA},
        Author = {Nora Ayanian and Vinutha Kallem and Vijay Kumar},
        Booktitle = iros,
        Month = {Sept.},
        Pages = {3126-3131},
        Title = {Synthesis of Feedback Controllers for Multiple Aerial Robots with Geometric Constraints},
        Year = 2011}