@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} }