Mata-Machuca, J. L., L. F. Zarazua, and R. Aguilar-López. “Experimental Verification of the Leader-Follower Formation Control of Two Wheeled Mobile Robots With Obstacle Avoidance”. IEEE Latin America Transactions, vol. 19, no. 8, Mar. 2021, pp. 1417-24, https://latamt.ieeer9.org/index.php/transactions/article/view/4668.