?url_ver=Z39.88-2004&rft_id=10.1109%2FRAICS.2011.6069385&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Kuppan%2C+C.R.M.&rft.aulast=Kuppan&rft.aufirst=C.R.M.&rft.title=Distributed+planning+and+control+of+multirobot+formations+with+navigation+and+obstacle+avoidance&rft.date=2011&rft.isbn=9781424494774&rft.genre=proceeding