Decentralized Goal Assignment and Trajectory Generation in Multi-Robot Networks: A Multiple Lyapunov Functions Approach,

D. Panagou M. Turpin and V. Kumar, “Decentralized Goal Assignment and Trajectory Generation in Multi-Robot Networks: A Multiple Lyapunov Functions Approach,” in Proc. of the 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014.