@ARTICLE {18834,
author={P. Lima and A. Ahmad  Ahmad   and A. Dias Dias and André G.S. Conceição  Conceição  and A. Moreira  Moreira  and E. Silva Silva and L. Almeida and L. Oliveira and Tiago P. Nascimento Nascimento},
doi={10.1016/j.robot.2014.08.018},
journal={Robotics and Autonomous Systems},
title={Formation control driven by cooperative object tracking},
year={2015},
month={January},
volume={63},
number={1},
pages={68-79},
ISSN={0921-8890}
}