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Distributed Formation Control of Multiagent Systems With Sp..:

Chiang, Ming-Li ; Chen, Yu-Wen ; Chen, Chin-Sheng.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  52 (2022)  1 - p. 301-310 , 2022
Link: https://doi.org/10.1109/tsmc.2020.2998013