Safe Flocking in Spite of Actuator Faults. Johnson, T. T. & Mitra, S. In Dolev, S., Cobb, J. A., Fischer, M. J., & Yung, M., editors, Stabilization, Safety, and Security of Distributed Systems - 12th International Symposium, SSS 2010, New York, NY, USA, September 20-22, 2010. Proceedings, volume 6366, of Lecture Notes in Computer Science, pages 588–602, 2010. Springer.
Safe Flocking in Spite of Actuator Faults [link]Paper  doi  bibtex   
@inproceedings{DBLP:conf/sss/JohnsonM10,
  author    = {Taylor T. Johnson and
               Sayan Mitra},
  editor    = {Shlomi Dolev and
               Jorge Arturo Cobb and
               Michael J. Fischer and
               Moti Yung},
  title     = {Safe Flocking in Spite of Actuator Faults},
  booktitle = {Stabilization, Safety, and Security of Distributed Systems - 12th
               International Symposium, {SSS} 2010, New York, NY, USA, September
               20-22, 2010. Proceedings},
  series    = {Lecture Notes in Computer Science},
  volume    = {6366},
  pages     = {588--602},
  publisher = {Springer},
  year      = {2010},
  url       = {https://doi.org/10.1007/978-3-642-16023-3\_45},
  doi       = {10.1007/978-3-642-16023-3\_45},
  timestamp = {Sat, 19 Oct 2019 20:07:49 +0200},
  biburl    = {https://dblp.org/rec/conf/sss/JohnsonM10.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}
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