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Ahmed, S. S., Shalaby, M., Le Ny, J., & Forbes, J. R. (2024, October). Optimal Robot Formations: Balancing Range-Based Observability and User-Defined Configurations [Paper]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Abu Dhabi, United Arab Emirates. Published in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). External link