@article {MEB09,
	title = {Controllability analysis of multi-agent systems using relaxed equitable partitions},
	journal = {Int. J. Systems, Control and Communications},
	volume = {2},
	number = {1,2,3},
	year = {2010},
	pages = {100-121},
	abstract = {<p>This paper investigates the issue of how to make decentralised networks amenable to external control, i.e. how to ensure that they are appropriately organised so that they can be effectively</p>
},
	keywords = {Embedded Control, Robotics},
	author = {S. Martini and M. Egerstedt and A. Bicchi}
}
