@phdthesis{Saska2009,
  author      = {Martin Saska},
  title       = {Trajectory planning and optimal control for formations of autonomous robots},
  type        = {doctoralthesis},
  school      = {Universit{\"a}t W{\"u}rzburg},
  doi       = {10.25972/OPUS-4622},
  year        = {2009},
}