@article{guo2013controlling,
  title={Controlling the relative agent motion in multi-agent formation stabilization},
  author={Guo, Meng and Zavlanos, Michael M and Dimarogonas, Dimos V},
  journal={IEEE Transactions on Automatic Control},
  volume={59},
  number={3},
  pages={820--826},
  year={2013},
  publisher={IEEE}
}