?url_ver=Z39.88-2004&rft_id=10.1109%2FCDC.2011.6160521&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Bemporad%2C+Alberto&rft.aulast=Bemporad&rft.aufirst=Alberto&rft.title=Decentralized+linear+time-varying+model+predictive+control+of+a+formation+of+unmanned+aerial+vehicles&rft.btitle=Proceedings+of+the+50th+IEEE+Conference+on+Decision+and+Control+and+European+Control+Conference+(CDC-ECC)&rft.date=December+2011&rft.isbn=978-1-61284-800-6&rft.genre=bookitem