1. H. G. Tanner, G. J. Pappas, and V. Kumar, “Leaderto-formation stability,” IEEE Trans. on Robotics and Automation, vol. 20, no. 3, pp. 433–455, June 2004.
2. R. X. Cui, S. Z. Sam Ge, B. V. Ee How, and Y. S. Choo, “Leader-follower formation control of underactuated autonomous underwater vehicles,” Ocean Engineering, vol. 37, no. 17–18, pp. 1491–1502, December 2010.
3. D. Xue, J. Yao, G. Chen, and Y. L. Yu, “Formation control of networked multi-agent systems,” IET Control Theory and Applications, vol. 4, no. 10, pp. 2168–2176, October 2010.
4. W. Jia, B. W. Xiao, and L. X. Zhi, “Decentralized formation control and obstacles avoidance based on potential field method,” Proc. of the Fifth International Conference on Machine Learning and Cybernetics, pp. 803–808, 2006.
5. E. L. Naomi and F. Edward, “Virtual leaders, artificial potentials and coordinated control of groups,” Proc. of the Conference on Decision Control, pp. 2968–2973, 2001.