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{nima08rss,
	Author = {N. Moshtagh and N. Michael and A. Jadbabaie and K. Daniilidis},
	Booktitle = {Robotics: Science and Systems},
	Publisher = {MIT Press},
	Title = {Distributed, Bearing-Only Control Laws for Circular Formations of Ground Robots},
	Year = 2008}

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