@article{AyanianTRO10,
        Author = {Nora Ayanian and Vijay Kumar},
        Journal = {IEEE Transactions on Robotics},
        Month = {October},
        Number = {5},
        Pages = {878 - 887},
        Title = {Decentralized feedback controllers for multi-agent teams in environments with obstacles},
        Volume = {26},
        Year = {2010}}