@INPROCEEDINGS{9340775,
  author={Cappo, Ellen A. and Desai, Arjav and Michael, Nathan},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={Data Driven Online Multi-Robot Formation Planning},
  year={2020},
  volume={},
  number={},
  pages={11638-11643},
  doi={10.1109/IROS45743.2020.9340775}}