Line Formation Using Multi-layer Control Scheme - Santos Brandao, Alexandre; Barbosa, Joao Paulo; Rodrigues Vasconcelos, Joao Vitor; Romie Neiva, Diego (2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE), Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE), 2018 Latin American, LARS-SBR-WRE, 2018)