?url_ver=Z39.88-2004&rft_id=10.1109%2FTCYB.2019.2913326&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Pham%2C+Duy+Hung&rft.aulast=Pham&rft.aufirst=Duy+Hung&rft.date=16+May+2019&rft.issn=2168-2267&rft.atitle=Hierarchical+Distributed+Control+for+Global+Network+Integrity+Preservation+in+Multirobot+Systems&rft.title=IEEE+Transactions+on+Cybernetics&rft.pages=1-14&rft.genre=article