Chang, Chih-FuChih-FuChangLI-CHEN FU2020-05-042020-05-042008https://scholars.lib.ntu.edu.tw/handle/123456789/489070A formation control framework based on Lyapunov approach.conference paper10.1109/IROS.2008.4651041https://doi.org/10.1109/IROS.2008.4651041