Cyclic Pursuit Based Formation Control for Cooperative Target-enclosing. Hara, S., Hori, Y., & Kim, T. Transactions of the Society of Instrument and Control Engineers, 45(3):160–167, The Society of Instrument and Control Engineers, 2009.
bibtex   
@article{hara2009cyclic,
  title={Cyclic Pursuit Based Formation Control for Cooperative Target-enclosing},
  author={Hara, Shinji and Hori, Yutaka and Kim, Tae-Hyoung},
  journal={Transactions of the Society of Instrument and Control Engineers},
  volume={45},
  number={3},
  pages={160--167},
  year={2009},
  publisher={The Society of Instrument and Control Engineers}
}

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