1. Multi-agent systems an introduction to distributed artificial intelligence;Ferber,1999
2. Eren. T., Belhumeur, P.N., Anderson, B.D. and Morse, A.S. (2002). A framework for maintaining formations based on rigidity. In: Proceedings of the 15th IFAC World Congress. pp.2752–2757.
3. Areak, M. (2006). Passivity as a design tool for group coordination. In: IEEE American Control Conference. pp.6.
4. Behavior-based formation control for multi robot teams. Robotics and Automation;Balch;IEEE Transactions,1998
5. Lewis, M.A. and Tan, K.H. High precision formation control of mobile robots using virtual structures. Autonomous Robots, 4(4), pp.387-403.