Formation control of underactuated ships with elliptical shape approximation and limited communication ranges. Do, K. D. Automatica, 48(7):1380–1388, July, 2012.
bibtex   
@Article{SCC.Do2012,
  author    = {Do, K. D.},
  title     = {Formation control of underactuated ships with elliptical shape approximation and limited communication ranges},
  journal   = {Automatica},
  year      = {2012},
  volume    = {48},
  number    = {7},
  pages     = {1380--1388},
  month     = jul,
  owner     = {Teng-Hu},
  timestamp = {2016.07.18},
}

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