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Event-Triggered Probability-Driven Adaptive Formation Contr..:

Liu, Yutong ; Shi, Peng ; Yu, Hongjun.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  52 (2022)  1 - p. 645-654 , 2022
Link: https://doi.org/10.1109/tsmc.2020.3026029