A Distributed Optimization Framework for Localization and Formation Control: Applications to Vision-Based Measurements,

R. Tron, J. Thomas, G. Loianno, K. Daniilidis, and V. Kumar, “A Distributed Optimization Framework for Localization and Formation Control: Applications to Vision-Based Measurements,” IEEE Control Systems, vol. 36, iss. 4, pp. 22-44, 2016.