Guidance law for formation flight via desired position. Kim, S., Whang, I., & Song, C. In Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on, pages 1358--1363, 2009. IEEE.
bibtex   
@INPROCEEDINGS{KimWhangSong2009,
  author = {Kim, Sang-Jae and Whang, Ick-ho and Song, Chanho},
  title = {Guidance law for formation flight via desired position},
  booktitle = {Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium
	on},
  year = {2009},
  pages = {1358--1363},
  organization = {IEEE}
}

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