@article {34,
	title = {Decentralized connectivity maintenance for cooperative control of mobile robotic systems},
	journal = {The International Journal of Robotics Research (SAGE)},
	volume = {32},
	year = {2013},
	month = {October},
	pages = {1411-1423},
	issn = {1741-3176},
	author = {Lorenzo Sabattini and Nikhil Chopra and Cristian Secchi}
}
