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@article{TUW-199432,
    author = {Meurer, Thomas and Krstic, Miroslav},
    title = {Finite-time multi-agent deployment: A nonlinear PDE motion planning approach},
    journal = {Automatica},
    year = {2011},
    volume = {47},
    number = {11},
    pages = {2534--2542},
    doi = {10.1016/j.automatica.2011.08.045}
}