T. Balch and R. C. Arkin, Behaviour-based formation control for multi-robot teams, IEEE Transactions on Robotics and Automation, vol.14, pp.926-939, 1998.

R. W. Beard, J. Lawton, and F. Y. Hadaegh, A coordination architecture for formation control, IEEE Trans. Control Syst. Technology, vol.9, pp.777-790, 2002.

D. E. Chang, S. C. Shadden, J. E. Marsden, and R. Olfati-saber, Collision avoidance for multiple agent systems, Proc. of the IEEE Conf. on Decision and Control, pp.539-543, 2003.

J. Chen, D. M. Dawson, M. Salah, and T. Burg, Cooperative control of multiple agents with limited sensing, Int. J. Adaptative Control Signal Processing, vol.21, pp.115-131, 2007.

J. P. Desai, J. Ostrowski, and V. Kumar, Controlling formations of multiple mobile robots, Proc. IEEE Int. Conf. Robotics and Automation, pp.2864-2869, 1998.

V. D. Dimos and H. J. Karl, Analysis of robot navigation schemes using Rantzer's Dual Lyapunov theorem, Proc. of the American Control Conference, pp.201-206, 2008.

W. E. Dixon, . London, M. A. Elkamel, L. Beji, and A. Abichou, A novel obstacle avoidance approach for multi-mobile robot systems including target capturing, Proc. 2nd Mediterranean Conf. on Intelligent Systems and Automation, vol.1107, pp.249-253, 2001.

M. A. Elkamel, L. Beji, and A. Abichou, A decentralised formation control method including self-organization around a target, Proceedings of the IFAC Symposium on Robot Control, 2009.

A. E. Essghaier, L. Beji, A. Abichou, and J. Lerbet, Flexible virtual structure consideration in dynamic modelling of mobile robots rormation, Proc. 2nd, 2009.

, Mediterranean Conf. on Intelligent Systems and Automation, vol.1107, pp.296-301

Y. Ikeda and J. Kay, An optimal control problem for automatic air collision avoidance, Proc. of the IEEE Conf. on Decision and Control, vol.3, pp.2222-2227, 2003.

W. Kang and H. Yeh, Coordinated attitude control of multisatellite systems, vol.12, pp.185-205, 2002.

W. Kowalczyk and K. Kozlowski, Artificial potential based control for a large scale formation of mobile robots', Climbing and Walking Robots, pp.191-199, 2005.

E. Lalish, K. A. Morgansen, and T. T. , Formation tracking control using virtual structures and deconfliction, Proc. of the IEEE Conf. On Decision and Control, pp.5699-5705, 2006.

M. A. Lewis and K. H. Tan, High precision formation control of mobile robots using virtual structures, Autonomous Robots, vol.4, pp.387-403, 1997.

E. Z. Macarthur and C. D. Crane, Compliant formation control of multi-agent system, Proc. of the Computational Intelligence in Robotics and Automation, pp.479-484, 2007.

A. Melikyan, N. Hovakimyan, and Y. Ikeda, Dynamic programming approach to a minimum distance optimal control problem, Proceedings of 42nd IEEE Conference on Decision and Control, pp.239-244, 2003.

M. Mesbahi and F. Y. Hadaegh, Formation flying control of multiple spacecraft via graphs, matrix inequalities, and switching, AIAA J. Guidance, Control, Dynam, vol.24, pp.369-377, 2000.

S. Monteiro and E. Bicho, A dynamical systems approach to behaviour-based formation control, Proc. of the IEEE Int. Conf. on Robotics and Automation, pp.2606-2611, 2002.

W. Ren and R. W. Beard, A decentralised scheme for spacecraft formation flying via the virtual structure approach, AIAA Journal of Guidance, Control, and Dynamics, vol.27, pp.73-82, 2004.

T. Sahin and E. Zergeroglu, Mobile dynamically reformable formations for efficient flocking behaviour in complex environments, Proc. of the IEEE Int. Conf. on Robotics and Automation, pp.1910-1915, 2008.

P. K. Wang, Navigation strategies for multiple autonomous mobile robots moving in formation, J. Robot. Syst, vol.8, pp.177-195, 1991.

P. K. Wang and F. Y. Hadaegh, Coordination and control of multiple microspacecraft moving in formation, J. Astronautical Sci, vol.44, pp.315-355, 1996.

Y. Chen and Z. Wang, Formation control: a review and a new consideration, Proc. of the IROS Conference, pp.3181-3186, 2005.

Y. Q. Chen, Z. Wang, and J. Liang, Optimal dynamic actuator location in distributed feedback control of a diffusion process, Int. J. Sensor Networks, vol.2, pp.169-178, 2007.

C. Gao, J. Cortes, and F. Bullo, Notes on averaging over acyclic digraphs and discrete coverage control, Automatica, vol.44, pp.2120-2127, 2008.

R. Olfati-saber and R. M. Murray, Consensus problems in networks of agents with switching topology and time-delays, IEEE Transactions On Automatic Control, vol.49, pp.1520-1533, 2004.

R. Olfati-saber, J. A. Fax, and R. M. Murray, Consensus and cooperation in networked multi-agent systems, Proceedings of the IEEE, vol.95, pp.215-233, 2007.

W. Ren, Distributed coordination architecture for multi-robot formation control, Systems & Control letters, vol.56, pp.474-483, 2007.

W. Ren and N. Sorensen, Distributed coordination architecture for multi-robot formation control, Robotics and Autonomous Systems, vol.56, pp.324-333, 2008.