@article {2015i-FraSteOri,
	title = {Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance},
	journal = {Autonomous Robots},
	volume = {40},
	year = {2016},
	month = {02/2016},
	pages = {245-265},
	abstract = {We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentralized and only requires local communication among robots; in particular, each robot locally estimates all the relevant global quantities. We validate the proposed strategy through simulations on kinematic point robots and quadrotor UAVs, as well as  experiments on differential-drive wheeled mobile robots.},
	keywords = {Motion control of multiple robots},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/1307.7170v2.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/1307.7170v1.pdf},
	author = {Antonio Franchi and Paolo Stegagno and Giuseppe Oriolo}
}
