1. Equilibria and steering laws for planar formations
2. Swarm Intelligence: From Natural to Artificial Systems;Bonabeua,1999
3. Pattern-forming systems for control of large arrays of actuators
4. L. Edelstein-Keshet, in: The 2001 International Symposium on Nonlinear Theory and its Applications, (NOLTA 2001), Miyagi, Japan
5. Mathematical Biology;Murray,1993