Distributed Algorithms for Cooperative Control. Klavins, E. and Murray, R. M. In IEEE Pervasive Computing, volume 3, pages 56--65, January--March, 2004.
bibtex   
@InProceedings{ 7005,
	author = "E. Klavins and R. M. Murray",
	title = "Distributed Algorithms for Cooperative Control",
	booktitle = "IEEE Pervasive Computing",
	pages = "56--65",
	year = "2004",
	volume = "3",
	number = "1",
	month = "January--March"
}
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