G. Antonelli, F. Arrichiello, and S. Chiaverini, The Entrapment/Escorting Mission, IEEE Robotics & Automation Magazine, vol.15, issue.1, pp.22-29, 2008.
DOI : 10.1109/M-RA.2007.914932

N. Ceccarelli, M. D. Marco, A. Garulli, and A. Giannitrapani, Collective circular motion of multi-vehicle systems, Automatica, vol.44, issue.12, pp.3025-3035, 2008.
DOI : 10.1016/j.automatica.2008.04.024

A. Censi, A. Franchi, L. Marchionni, and G. Oriolo, Simultaneous maximum-likelihood calibration of odometry and sensor parameters, 2008 IEEE International Conference on Robotics and Automation, pp.475-492, 2013.
DOI : 10.1109/ROBOT.2008.4543516

M. Fliess, J. Lévine, P. Martin, and P. Rouchon, Flatness and defect of nonlinear systems: Introductory theory and examples, International Journal of Control, issue.6, pp.611327-1361, 1995.

A. Franchi, G. Oriolo, and P. Stegagno, Probabilistic mutual localization in multi-agent systems from anonymous position measures, 49th IEEE Conference on Decision and Control (CDC), pp.6534-6540, 2010.
DOI : 10.1109/CDC.2010.5717905

A. Franchi, P. Stegagno, M. D. Rocco, and G. Oriolo, Distributed target localization and encirclement with a multirobot system, 7th IFAC Symp. on Intelligent Autonomous Vehicles, 2010.

A. Franchi, C. Secchi, M. Ryll, H. H. Bülthoff, and P. Giordano, Shared Control : Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs, IEEE Robotics & Automation Magazine, vol.19, issue.3, pp.57-68, 2012.
DOI : 10.1109/MRA.2012.2205625

A. Franchi, G. Oriolo, and P. Stegagno, Mutual localization in multi-robot systems using anonymous relative measurements, The International Journal of Robotics Research, vol.32, issue.11, pp.1302-1322, 2013.
DOI : 10.1177/0278364913495425

V. Gazi and K. M. Passino, Stability analysis of social foraging swarms: combined effects of attractant/repellent profiles, Proceedings of the 41st IEEE Conference on Decision and Control, 2002., pp.2848-2853, 2002.
DOI : 10.1109/CDC.2002.1184280

M. M. Gonçalves, L. C. Pimenta, and G. A. Pereira, Coverage of curves in 3D with swarms of nonholonomic aerial robots, 18th IFAC World Congress, pp.10367-10372, 2011.
DOI : 10.3182/20110828-6-IT-1002.03723

M. Grabe, H. H. Riedel, P. Bülthoff, A. Giordano, and . Franchi, The TeleKyb framework for a modular and extendible ROS-based quadrotor control, 2013 European Conference on Mobile Robots, pp.19-25, 2013.
DOI : 10.1109/ECMR.2013.6698814
URL : https://hal.archives-ouvertes.fr/hal-00908803

R. M. Gray, Toeplitz and Circulant Matrices: A Review. Foundations and Trends in Technology, 2006.

L. Gui, L. J. Dai, and . Cimini, Routing strategies in multihop cooperative networks, IEEE Transactions on Wireless Communications, vol.8, issue.2, pp.843-855, 2009.
DOI : 10.1109/TWC.2009.071030

L. Gurvits, R. Shorten, and O. Mason, On the Stability of Switched Positive Linear Systems, IEEE Transactions on Automatic Control, vol.52, issue.6, pp.1099-1103, 2007.
DOI : 10.1109/TAC.2007.899057

S. Hara, T. H. Kim, and Y. Hori, Distributed Formation Control for Target-enclosing Operations based on a Cyclic Pursuit Strategy, 17th IFAC World Congress, pp.6602-6607, 2008.
DOI : 10.3182/20080706-5-KR-1001.01113

M. A. Hsieh, V. Kumar, and L. Chaimowicz, Decentralized controllers for shape generation with robotic swarms, Robotica, vol.16, issue.05, pp.691-701, 2008.
DOI : 10.1137/S009753979628292X

A. Isidori, Nonlinear Control Systems, 1995.

U. T. Jönsson and C. Y. Kao, Consensus of heterogeneous linear agents applied to a formation control problem, 49th IEEE Conference on Decision and Control (CDC), pp.743-1546, 2010.
DOI : 10.1109/CDC.2010.5717787

H. Kawakami and T. Namerikawa, Cooperative targetcapturing strategy for multi-vehicle systems with dynamic network topology, American Control Conference, pp.635-640, 2009.

J. Lächele, A. Franchi, H. H. Bülthoff, and P. Giordano, SwarmSimX: Real-Time Simulation Environment for Multi-robot Systems, 3rd Int. Conf. on Simulation, Modeling , and Programming for Autonomous Robots, pp.375-387, 2012.
DOI : 10.1007/978-3-642-34327-8_34

Y. Lan and Z. Lin, A distributed reconfigurable control law for escorting and patrolling missions using teams of unicycles, 49th IEEE Conference on Decision and Control (CDC), pp.5456-5461, 2010.
DOI : 10.1109/CDC.2010.5717425

J. Lee, A. Franchi, H. I. Son, H. H. Bülthoff, and P. Giordano, Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles, IEEE/ASME Transactions on Mechatronics, vol.18, issue.4, pp.1334-1345, 2013.
DOI : 10.1109/TMECH.2013.2263963
URL : https://hal.archives-ouvertes.fr/hal-00910801

N. E. Leonard and E. Fiorelli, Virtual leaders, artificial potentials and coordinated control of groups, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), pp.2968-2973, 2001.
DOI : 10.1109/CDC.2001.980728

Z. Lin, B. Francis, and M. Maggiore, Necessary and sufficient graphical conditions for formation control of unicycles, IEEE Trans. on Automatic Control, vol.50, issue.1, pp.121-127, 2005.

I. Mas, S. Li, J. Acain, and C. Kitts, Entrapment/escorting and patrolling missions in multi-robot cluster space control, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5855-5861, 2009.
DOI : 10.1109/IROS.2009.5354815

R. Mellish and D. Paley, Backstepping control design for motion coordination of self-propelled vehicles, 49th IEEE Conf. on Decision and Control, pp.5468-5473, 2010.

V. Mistler, A. Benallegue, and N. K. Sirdi, Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591), pp.586-593, 2001.
DOI : 10.1109/ROMAN.2001.981968

L. Moreau, Stability of multiagent systems with time-dependent communication links, IEEE Transactions on Automatic Control, vol.50, issue.2, pp.169-182, 2005.
DOI : 10.1109/TAC.2004.841888

N. Moshtagh, N. Michael, A. Jadbabaie, and K. Daniilidis, Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots, IEEE Transactions on Robotics, vol.25, issue.4, pp.851-860, 2009.
DOI : 10.1109/TRO.2009.2022439

M. J. Van-nieuwstadt and R. M. Murray, Real-time trajectory generation for differentially flat systems, International Journal of Robust and Nonlinear Control, vol.8, issue.11, pp.995-1020, 1998.
DOI : 10.1002/(SICI)1099-1239(199809)8:11<995::AID-RNC373>3.0.CO;2-W

R. M. Olfati-saber and . Murray, Consensus Problems in Networks of Agents With Switching Topology and Time-Delays, IEEE Transactions on Automatic Control, vol.49, issue.9, pp.1520-1533, 2004.
DOI : 10.1109/TAC.2004.834113

G. Oriolo, A. De-luca, and M. Vendittelli, WMR control via dynamic feedback linearization: design, implementation, and experimental validation, IEEE Transactions on Control Systems Technology, vol.10, issue.6, pp.835-852, 2002.
DOI : 10.1109/TCST.2002.804116

M. Pavone and E. Frazzoli, Decentralized policies for geometric pattern formation, 2007 American Control Conference, pp.3949-3954, 2007.
DOI : 10.1109/ACC.2007.4283108

W. Ren, Consensus strategies for cooperative control of vehicle formations, IET Control Theory & Applications, vol.1, issue.2, pp.505-512, 2007.
DOI : 10.1049/iet-cta:20050401

W. Ren, Multi-vehicle consensus with a time-varying reference state, Systems & Control Letters, vol.56, issue.7-8, pp.474-483, 2007.
DOI : 10.1016/j.sysconle.2007.01.002

L. Sabattini, C. Secchi, C. Fantuzzi, D. De-macedo, and . Possamai, Tracking of closed-curve trajectories for multirobot systems, 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.6089-6094, 2010.

L. Sabattini, C. Secchi, and C. Fantuzzi, Closed-Curve Path Tracking for Decentralized Systems of Multiple Mobile Robots, Journal of Intelligent & Robotic Systems, vol.29, issue.1, pp.109-123, 2013.
DOI : 10.1007/s10846-012-9763-9

D. Sadowska, N. Kostic, H. Van-de-wouw, H. Huijberts, and . Nijmeijer, Distributed formation control of unicycle robots, 2012 IEEE International Conference on Robotics and Automation, pp.1564-1569, 2012.
DOI : 10.1109/ICRA.2012.6224947

R. Sepulchre, D. A. Paley, and N. E. Leonard, Stabilization of Planar Collective Motion: All-to-All Communication, IEEE Transactions on Automatic Control, vol.52, issue.5, pp.811-824, 2007.
DOI : 10.1109/TAC.2007.898077

R. Sepulchre, D. A. Paley, and N. E. Leonard, Stabilization of Planar Collective Motion With Limited Communication, IEEE Transactions on Automatic Control, vol.53, issue.3, pp.706-719, 2008.
DOI : 10.1109/TAC.2008.919857

I. Shames, B. Fidan, and B. D. Anderson, Close target reconnaissance with guaranteed collision avoidance, International Journal of Robust and Nonlinear Control, vol.42, issue.2, 2010.
DOI : 10.1002/rnc.1663

M. Turpin, N. Michael, and V. Kumar, Decentralized formation control with variable shapes for aerial robots, 2012 IEEE International Conference on Robotics and Automation, pp.23-30, 2012.
DOI : 10.1109/ICRA.2012.6225196