Stabilizing a Multi-Agent System to an Equilateral Polygon Formation. Smith, S. L., Broucke, M. E., & Francis, B. A. In mtns, pages 2415-2424, July, 2006.
bibtex   
@inproceedings{ SLS-MB-BF:06b,
  author    = {S. L. Smith and M. E. Broucke and B. A. Francis},
  title     = {Stabilizing a Multi-Agent System to an Equilateral Polygon Formation},
  booktitle   = {mtns},
  month   = {July},
  pages   = {2415-2424} ,
  year   = {2006}
}
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