@inproceedings{Ayanian_ISRR2009,
	Address = {Luzern, Switzerland},
	Author = {Nora Ayanian and Vijay Kumar and Daniel Koditschek},
	Booktitle = {Proceedings of International Symposium of Robotics Research},
	Month = {August},
	Title = {Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints},
	Year = {2009}}