@article{Zhang2021distributed,
  author={Zhang, Liang and Zhang, Zexu and Siegwart, Roland and Chung, Jen Jen},
  title={Distributed {PDOP} converage control: Providing large-scale position service using a multi-robot system},
  journal={IEEE Robotics and Automation Letters},
  year={2021},
  pages={2217--2224},
  volume={6},
  number={2},
  doi={10.1109/LRA.2021.3059625},
  URL={https://ieeexplore.ieee.org/document/9354896}
}