@inproceedings{ spry_formation_2004,
  title = {Formation control using generalized coordinates},
  volume = {3},
  url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1428775},
  urldate = {2013-09-24},
  booktitle = {Decision and Control, 2004. {CDC.} 43rd {IEEE} Conference on},
  author = {Spry, Stephen and Hedrick, J. Karl},
  year = {2004},
  pages = {2441–2446}
}

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