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There is considerable interest in real-world formation-maintenance tasks, where robots move together while maintaining a geometric shape. This interest is motivated by promise of robustly and efficiently moving multiple robots along a path, guided by a human operator. This paper presents a comprehensive set of techniques that fulfill this promise: (i) a novel method for fusing open-and closed-loop controllers, for robust formation-maintenance; (ii) an ecological display, allowing a humandoi:10.14198/jopha.2008.2.1.04 fatcat:of4qewhuvvc2blagnwu4xbogz4