?url_ver=Z39.88-2004&rft_id=10.4028%2Fwww.scientific.net%2FAMR.433-440.6630&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=R.M.&rft.aulast=Kuppan+Chetty&rft.au=Kuppan+Chetty%2C+R.M.&rft.pages=6630-6635&rft.atitle=Behavior+based+multi+robot+formations+with+active+obstacle+avoidance+based+on+switching+control+strategy&rft.isbn=9783037853191&rft.volume=433-44&rft.issn=10226680&rft.date=2012&rft.title=Advanced+Materials+Research&rft.genre=article