Lee, Seung-Mok; Myung, Hyun: 'Receding horizon particle swarm optimisation-based formation control with collision avoidance for non-holonomic mobile robots', IET Control Theory & Applications, 2015, 9, (14), p. 2075-2083, DOI: 10.1049/iet-cta.2015.0071
IET Digital Library, https://digital-library.theiet.org/;jsessionid=9nk9k44eeedn2.x-iet-live-01content/journals/10.1049/iet-cta.2015.0071