@INPROCEEDINGS{UrcolaIROS08,
author = {P. Urcola and L. Riazuelo and M.T. L\'azaro and L. Montano}, 
title = {Cooperative Navigation using environment compliant robot formations.}, 
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS08)}, 
month = {Sept 22-26}, 
year = {2008}, 
pages = {2789-2794}, 
address = {Nice, France}, 
doi = {10.1109/IROS.2008.4651107}
}