Potential Function Based Multi-Agent Formation Control in 3D Space. Bunić, M. & Bogdan, S. IFAC Proceedings Volumes, 45(22):682–689, Elsevier, 2012.
bibtex   
@article{Bunic:2012,
    author = {Buni{\'c}, Marko and Bogdan, Stjepan},
    journal = {IFAC Proceedings Volumes},
    number = {22},
    pages = {682--689},
    publisher = {Elsevier},
    title = {Potential Function Based Multi-Agent Formation Control in 3D Space},
    volume = {45},
    year = {2012}
}

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