?url_ver=Z39.88-2004&rft_id=10.3923%2Fjas.2011.1501.1509&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Chetty%2C+R.M.K.&rft.aulast=Chetty&rft.aufirst=R.M.K.&rft.volume=11&rft.issn=18125654&rft.issue=9&rft.pages=1501-1509&rft.atitle=Distributed+formation+planning+and+navigation+framework+for+wheeled+mobile+robots&rft.title=Journal+of+Applied+Sciences&rft.date=2011&rft.genre=article