@conference {MMB-CDC08,
	title = {Controllability Decompositions of Networked Systems Through Quotient Graphs},
	booktitle = {Proc. IEEE Int. Conf. on Decision and Control},
	year = {2008},
	pages = {5244 - 5249},
	keywords = {Embedded Control, Robotics},
	author = {S. Martini and M. Egerstedt and A. Bicchi}
}
