Distributed, Bearing-Only Control Laws for Circular Formations of Ground Robots. Moshtagh, N., Michael, N., Jadbabaie, A., & Daniilidis, K. In Robotics: Science and Systems, 2008. MIT Press.
bibtex   
@inproceedings{moshtagh_distributed_2008,
	title = {Distributed, {Bearing}-{Only} {Control} {Laws} for {Circular} {Formations} of {Ground} {Robots}},
	booktitle = {Robotics: {Science} and {Systems}},
	publisher = {MIT Press},
	author = {Moshtagh, N. and Michael, N. and Jadbabaie, A. and Daniilidis, K.},
	year = {2008},
}

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