{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,31]],"date-time":"2025-08-31T10:31:44Z","timestamp":1756636304933,"version":"3.33.0"},"publisher-location":"Berlin, Heidelberg","reference-count":117,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"type":"print","value":"9783540715405"},{"type":"electronic","value":"9783540715412"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"DOI":"10.1007\/978-3-540-71541-2_6","type":"book-chapter","created":{"date-parts":[[2007,7,20]],"date-time":"2007-07-20T22:16:27Z","timestamp":1184969787000},"page":"71-102","source":"Crossref","is-referenced-by-count":64,"title":["Coordination and Control of Multi-agent Dynamic Systems: Models and Approaches"],"prefix":"10.1007","author":[{"given":"Veysel","family":"Gazi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bar\u0131\u015f","family":"Fidan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"issue":"4","key":"6_CR1","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1145\/37402.37406","volume":"21","author":"C.W. Reynolds","year":"1987","unstructured":"Reynolds, C.W.: Flocks, herds, and schools: A distributed behavioral model. Comp. Graph.\u00a021(4), 25\u201334 (1987)","journal-title":"Comp. Graph."},{"issue":"8","key":"6_CR2","doi-asserted-by":"publisher","first-page":"931","DOI":"10.1177\/02783649922066664","volume":"18","author":"H. Yamaguchi","year":"1999","unstructured":"Yamaguchi, H.: A cooperative hunting behavior by mobile-robot troops. The International Journal of Robotics Research\u00a018(8), 931\u2013940 (1999)","journal-title":"The International Journal of Robotics Research"},{"issue":"6","key":"6_CR3","doi-asserted-by":"publisher","first-page":"905","DOI":"10.1109\/70.976023","volume":"17","author":"J.P. Desai","year":"2001","unstructured":"Desai, J.P., Ostrowski, J., Kumar, V.: Modeling and control of formations of nonholonomic mobile robots. IEEE Trans. on Robotics and Automation\u00a017(6), 905\u2013908 (2001)","journal-title":"IEEE Trans. on Robotics and Automation"},{"issue":"5","key":"6_CR4","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1109\/MCS.2003.1234649","volume":"23","author":"J. Fowler","year":"2003","unstructured":"Fowler, J., D\u2019Andrea, R.: A formation flight experiment. IEEE Control Systems Magazine\u00a023(5), 35\u201343 (2003)","journal-title":"IEEE Control Systems Magazine"},{"issue":"1","key":"6_CR5","doi-asserted-by":"publisher","first-page":"73","DOI":"10.2514\/1.9287","volume":"27","author":"W. Ren","year":"2004","unstructured":"Ren, W., Beard, R.: A decentralized scheme for spacecraft formation flying via the virtual structure approach. AIAA Journal of Gudiance, Control and Dyanmics\u00a027(1), 73\u201382 (2004)","journal-title":"AIAA Journal of Gudiance, Control and Dyanmics"},{"issue":"4","key":"6_CR6","doi-asserted-by":"publisher","first-page":"842","DOI":"10.1109\/TSMCB.2005.846643","volume":"35","author":"D. Stilwell","year":"2005","unstructured":"Stilwell, D., Bishop, B., Sylvester, C.: Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles. IEEE Transactions on Systems Man and Cybernetics Part B-Cybernetics\u00a035(4), 842\u2013848 (2005)","journal-title":"IEEE Transactions on Systems Man and Cybernetics Part B-Cybernetics"},{"issue":"2","key":"6_CR7","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1109\/TRA.2004.824698","volume":"20","author":"J. Cortes","year":"2004","unstructured":"Cortes, J., Martinez, S., Karatas, T., Bullo, F.: Coverage control for mobile sensing networks. IEEE Trans. on Robotics and Automation\u00a020(2), 243\u2013255 (2004)","journal-title":"IEEE Trans. on Robotics and Automation"},{"issue":"8","key":"6_CR8","doi-asserted-by":"publisher","first-page":"102","DOI":"10.1109\/MCOM.2002.1024422","volume":"40","author":"I.F. Akyildiz","year":"2002","unstructured":"Akyildiz, I.F., Su, W., Sankarasubramniam, Y., Cayirci, E.: A survey on sensor networks. IEEE Commununications Magazine\u00a040(8), 102\u2013114 (2002)","journal-title":"IEEE Commununications Magazine"},{"key":"6_CR9","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1007\/978-3-540-30552-1_2","volume-title":"Swarm Robotics","author":"E. Sahin","year":"2005","unstructured":"Sahin, E.: Swarm robotics: From sources of inspiration to domains of application. In: \u015eahin, E., Spears, W.M. (eds.) Swarm Robotics. LNCS, vol.\u00a03342, pp. 10\u201320. Springer, Heidelberg (2005)"},{"key":"6_CR10","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1162\/106454603321489518","volume":"9","author":"A. Kubik","year":"2003","unstructured":"Kubik, A.: Towards a formalization of emergence. Artificial Life\u00a09, 41\u201365 (2003)","journal-title":"Artificial Life"},{"key":"6_CR11","series-title":"Graduate Texts in Mathematics","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4613-0163-9","volume-title":"Algebraic Graph Theory","author":"C. Godsil","year":"2001","unstructured":"Godsil, C., Royle, G.: Algebraic Graph Theory. Graduate Texts in Mathematics, vol.\u00a0207. Springer, New York (2001)"},{"issue":"6","key":"6_CR12","doi-asserted-by":"publisher","first-page":"988","DOI":"10.1109\/TAC.2003.812781","volume":"48","author":"A. Jadbabaie","year":"2003","unstructured":"Jadbabaie, A., Lin, J., Morse, A.S.: Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. on Automatic Control\u00a048(6), 988\u20131001 (2003)","journal-title":"IEEE Trans. on Automatic Control"},{"issue":"9","key":"6_CR13","doi-asserted-by":"publisher","first-page":"1520","DOI":"10.1109\/TAC.2004.834113","volume":"49","author":"R. Olfati-Saber","year":"2004","unstructured":"Olfati-Saber, R., Murray, R.M.: Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans. on Automatic Control\u00a049(9), 1520\u20131533 (2004)","journal-title":"IEEE Trans. on Automatic Control"},{"issue":"3","key":"6_CR14","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1109\/TAC.2005.864190","volume":"51","author":"R. Olfati-Saber","year":"2006","unstructured":"Olfati-Saber, R.: Flocking for multi-agent dynamic systems: Algorithms and theory. IEEE Trans. on Automatic Control\u00a051(3), 401\u2013420 (2006)","journal-title":"IEEE Trans. on Automatic Control"},{"issue":"3","key":"6_CR15","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1109\/TRA.2004.825275","volume":"20","author":"H. Tanner","year":"2004","unstructured":"Tanner, H., Pappas, G.J., Kumar, V.: Leader-to-formation stability. IEEE Trans. on Robotics and Automation\u00a020(3), 443\u2013455 (2004)","journal-title":"IEEE Trans. on Robotics and Automation"},{"issue":"2","key":"6_CR16","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1109\/TAC.2004.841888","volume":"50","author":"L. Moreau","year":"2005","unstructured":"Moreau, L.: Stability of multiagent systems with time-dependent communication links. IEEE Trans. on Automatic Control\u00a050(2), 169\u2013182 (2005)","journal-title":"IEEE Trans. on Automatic Control"},{"issue":"5","key":"6_CR17","doi-asserted-by":"publisher","first-page":"655","DOI":"10.1109\/TAC.2005.846556","volume":"50","author":"W. Ren","year":"2005","unstructured":"Ren, W., Beard, R.W.: Consensus seeking in multi-agent systems under dynamically changing interaction topologies. IEEE Trans. on Automatic Control\u00a050(5), 655\u2013661 (2005)","journal-title":"IEEE Trans. on Automatic Control"},{"key":"6_CR18","volume-title":"Proc. IEEE Conference on Control Applications (Joint CCA\/CACSD\/ISIC)","author":"B. Anderson","year":"2006","unstructured":"Anderson, B., Yu, C., Fidan, B., Hendrickx, J.: Control and information architectures for formations. In: Proc. IEEE Conference on Control Applications (Joint CCA\/CACSD\/ISIC), IEEE Computer Society Press, Los Alamitos (2006)"},{"issue":"4","key":"6_CR19","first-page":"223","volume":"3","author":"T. Eren","year":"2004","unstructured":"Eren, T., Anderson, B., Morse, A., Whiteley, W., Belhumeur, P.: Operations on rigid formations of autonomous agents. Communications in Information and Systems\u00a03(4), 223\u2013258 (2004)","journal-title":"Communications in Information and Systems"},{"key":"6_CR20","doi-asserted-by":"publisher","first-page":"2176","DOI":"10.1109\/CDC.2005.1582484","volume-title":"Proc. 44th IEEE Conference on Decision and Control and the European Control Conference 2005","author":"J. Hendrickx","year":"2005","unstructured":"Hendrickx, J., Anderson, B., Blondel, V.: Rigidity and persistence of directed graphs. In: Proc. 44th IEEE Conference on Decision and Control and the European Control Conference 2005, pp. 2176\u20132181. IEEE Computer Society Press, Los Alamitos (2005)"},{"doi-asserted-by":"crossref","unstructured":"Hendrickx, J., Fidan, B., Yu, C., Anderson, B., Blondel, V.: Rigidity and persistence of three and higher dimensional formations. In: Proc. 2nd Int. Conf. on Informatics in Control, Automation & Robotics (ICINCO) - 1st Int. Workshop on Multi-Agent Robotic Systems (MARS), pp. 39\u201346 (2005)","key":"6_CR21","DOI":"10.5220\/0001193600390046"},{"doi-asserted-by":"crossref","unstructured":"Sandeep, S., Fidan, B., Yu, C.: Decentralized cohesive motion control of multi-agent formations. In: Proc. 14th Mediterranean Conference on Control and Automation, Ancona, Italy (2006)","key":"6_CR22","DOI":"10.1109\/MED.2006.328692"},{"doi-asserted-by":"crossref","unstructured":"Yu, C., Hendrickx, J., Fidan, B., Anderson, B.: Structural persistence of three dimensional autonomous formations. In: Proc. 2nd Int. Conf. on Informatics in Control, Automation & Robotics (ICINCO) - 1st Int. Workshop on Multi-Agent Robotic Systems (MARS), pp. 47\u201355 (2005)","key":"6_CR23","DOI":"10.5220\/0001194600470055"},{"issue":"4","key":"6_CR24","doi-asserted-by":"publisher","first-page":"692","DOI":"10.1109\/TAC.2003.809765","volume":"48","author":"V. Gazi","year":"2003","unstructured":"Gazi, V., Passino, K.M.: Stability analysis of swarms. IEEE Trans. on Automatic Control\u00a048(4), 692\u2013697 (2003)","journal-title":"IEEE Trans. on Automatic Control"},{"issue":"18","key":"6_CR25","doi-asserted-by":"publisher","first-page":"1567","DOI":"10.1080\/00207170412331330021","volume":"77","author":"V. Gazi","year":"2004","unstructured":"Gazi, V., Passino, K.M.: A class of attraction\/repulsion functions for stable swarm aggregations. Int. J. Control\u00a077(18), 1567\u20131579 (2004)","journal-title":"Int. J. Control"},{"issue":"1","key":"6_CR26","doi-asserted-by":"publisher","first-page":"539","DOI":"10.1109\/TSMCB.2003.817077","volume":"34","author":"V. Gazi","year":"2004","unstructured":"Gazi, V., Passino, K.M.: Stability analysis of social foraging swarms. IEEE Trans. on Systems, Man, and Cybernetics: Part B\u00a034(1), 539\u2013557 (2004)","journal-title":"IEEE Trans. on Systems, Man, and Cybernetics: Part B"},{"issue":"1","key":"6_CR27","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1109\/TAC.2002.806657","volume":"48","author":"Y. Liu","year":"2003","unstructured":"Liu, Y., Passino, K.M., Polycarpou, M.M.: Stability analysis of m-dimensional asynchronous swarms with a fixed communication topology. IEEE Trans. on Automatic Control\u00a048(1), 76\u201395 (2003)","journal-title":"IEEE Trans. on Automatic Control"},{"issue":"10","key":"6_CR28","doi-asserted-by":"publisher","first-page":"1848","DOI":"10.1109\/TAC.2003.817942","volume":"48","author":"Y. Liu","year":"2003","unstructured":"Liu, Y., Passino, K.M., Polycarpou, M.M.: Stability analysis of one-dimensional asynchronous swarms. IEEE Trans. on Automatic Control\u00a048(10), 1848\u20131854 (2003)","journal-title":"IEEE Trans. on Automatic Control"},{"issue":"4","key":"6_CR29","doi-asserted-by":"publisher","first-page":"834","DOI":"10.1109\/TSMCB.2005.845393","volume":"35","author":"V. Gazi","year":"2005","unstructured":"Gazi, V., Passino, K.M.: Stability of a one-dimensional discrete-time asynchronous swarm. IEEE Trans. on Systems, Man, and Cybernetics: Part B\u00a035(4), 834\u2013841 (2005)","journal-title":"IEEE Trans. on Systems, Man, and Cybernetics: Part B"},{"doi-asserted-by":"crossref","unstructured":"Tanner, H.G., Jadbabaie, A., Pappas, G.J.: Stable flocking of mobile agents, part\u00a0i: Fixed topology. In: Proc. of Conf. Decision Contr., Maui, Hawaii, pp. 2010\u20132015 (2003)","key":"6_CR30","DOI":"10.1109\/CDC.2003.1272910"},{"issue":"2","key":"6_CR31","doi-asserted-by":"publisher","first-page":"247","DOI":"10.1109\/70.370505","volume":"11","author":"J. Guldner","year":"1995","unstructured":"Guldner, J., Utkin, V.I.: Sliding mode control for gradient tracking and robot navigation using artificial potential fields. IEEE Trans. on Robotics and Automation\u00a011(2), 247\u2013254 (1995)","journal-title":"IEEE Trans. on Robotics and Automation"},{"issue":"1","key":"6_CR32","doi-asserted-by":"publisher","first-page":"47","DOI":"10.1109\/70.481750","volume":"12","author":"G. Campion","year":"1996","unstructured":"Campion, G., Bastin, G., Dandrea-Novel, B.: Structural properties and classification of kinematic and dynamicmodels of wheeled mobile robots. IEEE Tr. on Robotics and Automation\u00a012(1), 47\u201362 (1996)","journal-title":"IEEE Tr. on Robotics and Automation"},{"issue":"6","key":"6_CR33","doi-asserted-by":"publisher","first-page":"255","DOI":"10.1002\/rob.10039","volume":"19","author":"B.J. Yi","year":"2002","unstructured":"Yi, B.J., Kim, W.: The kinematics for redundantly actuated omnidirectional mobile robots. Journal of Robotic Systems\u00a019(6), 255\u2013267 (2002)","journal-title":"Journal of Robotic Systems"},{"doi-asserted-by":"crossref","unstructured":"Leonard, N.E., Fiorelli, E.: Virtual leaders, artificial potentials and coordinated control of groups. In: Proc. of Conf. Decision Contr., Orlando, FL, pp. 2968\u20132973 (2001)","key":"6_CR34","DOI":"10.1109\/CDC.2001.980728"},{"doi-asserted-by":"crossref","unstructured":"Bachmayer, R., Leonard, N.E.: Vehicle networks for gradient descent in a sampled environment. In: Proc. of Conf. Decision Contr., Las Vegas, Nevada, pp. 112\u2013117 (2002)","key":"6_CR35","DOI":"10.1109\/CDC.2002.1184477"},{"doi-asserted-by":"crossref","unstructured":"Tanner, H.G., Jadbabaie, A., Pappas, G.J.: Stable flocking of mobile agents, part\u00a0ii: Dynamic topology. In: Proc. of Conf. Decision Contr., Maui, Hawaii, pp. 2016\u20132021 (2003)","key":"6_CR36","DOI":"10.1109\/CDC.2003.1272911"},{"issue":"1","key":"6_CR37","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1109\/TAC.2003.821416","volume":"49","author":"Y. Liu","year":"2004","unstructured":"Liu, Y., Passino, K.M.: Stable social foraging swarms in a noisy environment. IEEE Transactions on Automatic Control\u00a049(1), 30\u201344 (2004)","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"6","key":"6_CR38","first-page":"1208","volume":"21","author":"V. Gazi","year":"2005","unstructured":"Gazi, V.: Swarm aggregations using artificial potentials and sliding mode control. IEEE Transactions on Automatic Control\u00a021(6), 1208\u20131214 (2005)","journal-title":"IEEE Transactions on Automatic Control"},{"doi-asserted-by":"crossref","unstructured":"Yao, J., Ordonez, R., Gazi, V.: Swarm tracking using artificial potentials and sliding mode control. In: Proc. of Conf. Decision Contr., San Diago, CA, USA (2006)","key":"6_CR39","DOI":"10.1109\/CDC.2006.377565"},{"issue":"6","key":"6_CR40","doi-asserted-by":"publisher","first-page":"947","DOI":"10.1109\/70.976029","volume":"17","author":"M. Egerstedt","year":"2001","unstructured":"Egerstedt, M., Hu, X.: Formation constrained multi-agent control. IEEE Trans. on Robotics and Automation\u00a017(6), 947\u2013951 (2001)","journal-title":"IEEE Trans. on Robotics and Automation"},{"issue":"1","key":"6_CR41","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1109\/TAC.2004.841121","volume":"50","author":"Z. Lin","year":"2005","unstructured":"Lin, Z., Francis, B., Maggiore, M.: Necessary and sufficient graphial conditions for formation control of unicycles. IEEE Trans. on Automatic Control\u00a050(1), 121\u2013127 (2005)","journal-title":"IEEE Trans. on Automatic Control"},{"issue":"11","key":"6_CR42","doi-asserted-by":"publisher","first-page":"1963","DOI":"10.1109\/TAC.2004.837589","volume":"49","author":"J. Marshall","year":"2004","unstructured":"Marshall, J., Broucke, M., Francis, B.: Formations of vehicles in cyclic pursuit. IEEE Trans. on Automatic Control\u00a049(11), 1963\u20131974 (2004)","journal-title":"IEEE Trans. on Automatic Control"},{"key":"6_CR43","series-title":"Lecture Notes in Control and Information Sciences","first-page":"229","volume-title":"Cooperative Control","author":"H.G. Tanner","year":"2005","unstructured":"Tanner, H.G., Jadbabaie, A., Pappas, G.J.: Flocking in teams of nonholonomic agents. In: Kumar, V.J., Leonard, N., Morse, S. (eds.) Cooperative Control. Lecture Notes in Control and Information Sciences, vol.\u00a0309, pp. 229\u2013239. Springer, Heidelberg (2005)"},{"issue":"6","key":"6_CR44","doi-asserted-by":"publisher","first-page":"933","DOI":"10.1109\/TRA.2003.819598","volume":"19","author":"J.R.T. Lawton","year":"2003","unstructured":"Lawton, J.R.T., Beard, R.W., Young, B.J.: A decentralized approach to formation maneuvers. IEEE Trans. on Robotics and Automation\u00a019(6), 933\u2013941 (2003)","journal-title":"IEEE Trans. on Robotics and Automation"},{"doi-asserted-by":"crossref","unstructured":"Gazi, V.: Stability Analysis of Swarms. PhD thesis, The Ohio State University (2002)","key":"6_CR45","DOI":"10.1109\/ACC.2002.1023830"},{"key":"6_CR46","first-page":"181","volume-title":"Differential Geometric Control Theory","author":"R.W. Brockett","year":"1983","unstructured":"Brockett, R.W.: Asymptotic stability and feedback stabilization. In: Millman, R.S., Sussmann, H.J. (eds.) Differential Geometric Control Theory, pp. 181\u2013191. Birkh\u00e4user, Boston (1983)"},{"key":"6_CR47","series-title":"Lecture Notes in Control and Information Sciences","volume-title":"Cooperative Control: 2003 Block Island Workshop on Cooperative Control","author":"R. Sepulchre","year":"2005","unstructured":"Sepulchre, R., Palay, D., Leonard, N.E.: Collective motion and oscillator synchronization. In: Kumar, V.J., Leonard, N.E., Morse, A.S. (eds.) Cooperative Control: 2003 Block Island Workshop on Cooperative Control. Lecture Notes in Control and Information Sciences, vol.\u00a0309, Springer, Heidelberg (2005)"},{"key":"6_CR48","doi-asserted-by":"publisher","first-page":"497","DOI":"10.2307\/2372560","volume":"79","author":"L. Dubins","year":"1957","unstructured":"Dubins, L.: On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents. American Journal of Mathematics\u00a079, 497\u2013516 (1957)","journal-title":"American Journal of Mathematics"},{"key":"6_CR49","doi-asserted-by":"publisher","first-page":"4530","DOI":"10.1109\/CDC.2005.1582876","volume-title":"Proc. 44th IEEE Conference on Decision and Control and the European Control Conference 2005","author":"K. Savla","year":"2005","unstructured":"Savla, K., Bullo, F., Frazzoli, E.: On traveling salesperson problems for Dubins\u2019 vehicle: stochastic and dynamic environments. In: Proc. 44th IEEE Conference on Decision and Control and the European Control Conference 2005, pp. 4530\u20134535. IEEE Computer Society Press, Los Alamitos (2005)"},{"issue":"2","key":"6_CR50","doi-asserted-by":"publisher","first-page":"110","DOI":"10.1109\/6979.928722","volume":"2","author":"C. Tomlin","year":"2001","unstructured":"Tomlin, C., Mitchell, I., Ghosh, R.: Safety verification of conflict resolution manoeuvres. IEEE Tr. on Intelligent Transportation Systems\u00a02(2), 110\u2013120 (2001)","journal-title":"IEEE Tr. on Intelligent Transportation Systems"},{"key":"6_CR51","volume-title":"Optimal Syntheses for Control Systems on 2-D Manifolds","author":"U. Boscain","year":"2004","unstructured":"Boscain, U., Piccoli, B.: Optimal Syntheses for Control Systems on 2-D Manifolds. Springer, New York (2004)"},{"issue":"6","key":"6_CR52","doi-asserted-by":"publisher","first-page":"1226","DOI":"10.1103\/PhysRevLett.75.1226","volume":"75","author":"T. Vicsek","year":"1995","unstructured":"Vicsek, T., Czirok, A., Ben-Jacob, E., Cohen, I., Shochet, O.: Novel type of phase transition in a system of self-driven particles. Physical Review Letters\u00a075(6), 1226\u20131229 (1995)","journal-title":"Physical Review Letters"},{"issue":"3","key":"6_CR53","doi-asserted-by":"publisher","first-page":"361","DOI":"10.2307\/1930099","volume":"35","author":"C.M. Breder","year":"1954","unstructured":"Breder, C.M.: Equations descriptive of fish schools and other animal aggregations. Ecology\u00a035(3), 361\u2013370 (1954)","journal-title":"Ecology"},{"key":"6_CR54","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/0065-227X(86)90003-1","volume":"22","author":"A. Okubo","year":"1986","unstructured":"Okubo, A.: Dynamical aspects of animal grouping: swarms, schools, flocks, and herds. Advances in Biophysics\u00a022, 1\u201394 (1986)","journal-title":"Advances in Biophysics"},{"key":"6_CR55","doi-asserted-by":"publisher","first-page":"473","DOI":"10.1016\/S0022-5193(05)80441-2","volume":"150","author":"K. Warburton","year":"1991","unstructured":"Warburton, K., Lazarus, J.: Tendency-distance models of social cohesion in animal groups. Journal of Theoretical Biology\u00a0150, 473\u2013488 (1991)","journal-title":"Journal of Theoretical Biology"},{"key":"6_CR56","series-title":"Lecture Notes in Biomathematics","doi-asserted-by":"crossref","first-page":"296","DOI":"10.1007\/978-3-642-50124-1_18","volume-title":"Frontiers in Theoretical Biology","author":"D. Gr\u00fcnbaum","year":"1994","unstructured":"Gr\u00fcnbaum, D., Okubo, A.: Modeling social animal aggregations. In: Frontiers in Theoretical Biology. Lecture Notes in Biomathematics, vol.\u00a0100, pp. 296\u2013325. Springer, New York (1994)"},{"key":"6_CR57","volume-title":"Proc. of the IEEE Swarm Intelligence Symposium, Pasadena, California","author":"O. Soysal","year":"2005","unstructured":"Soysal, O., Sahin, E.: Probabilistic aggregation strategies in swarm robotic systems. In: Proc. of the IEEE Swarm Intelligence Symposium, Pasadena, California, IEEE Computer Society Press, Los Alamitos (2005)"},{"key":"6_CR58","volume-title":"Proc. of the IEEE Swarm Intelligence Symposium, Pasadena, California","author":"E. Bahceci","year":"2005","unstructured":"Bahceci, E., Sahin, E.: Evolving aggregation behaviors for swarm robotic systems: A systematic case study. In: Proc. of the IEEE Swarm Intelligence Symposium, Pasadena, California, IEEE Computer Society Press, Los Alamitos (2005)"},{"key":"6_CR59","doi-asserted-by":"crossref","first-page":"257","DOI":"10.1017\/CBO9780511601156.017","volume-title":"Animal Groups in Three Dimensions","author":"D. Gr\u00fcnbaum","year":"1997","unstructured":"Gr\u00fcnbaum, D.: Schooling as a strategy for taxis in a noisy environment. In: Parrish, J.K., Hamner, W.M. (eds.) Animal Groups in Three Dimensions, pp. 257\u2013281. Cambridge University Press, Cambridge (1997)"},{"key":"6_CR60","doi-asserted-by":"publisher","first-page":"503","DOI":"10.1023\/A:1006574607845","volume":"12","author":"D. Gr\u00fcnbaum","year":"1998","unstructured":"Gr\u00fcnbaum, D.: Schooling as a strategy for taxis in a noisy environment. Evolutionary Ecology\u00a012, 503\u2013522 (1998)","journal-title":"Evolutionary Ecology"},{"key":"6_CR61","doi-asserted-by":"crossref","DOI":"10.1093\/oso\/9780195131581.001.0001","volume-title":"Swarm Intelligence: From Natural to Artificial Systems","author":"E. Bonabeau","year":"1999","unstructured":"Bonabeau, E., Dorigo, M., Theraulaz, G.: Swarm Intelligence: From Natural to Artificial Systems. Oxford University Press, New York (1999)"},{"key":"6_CR62","volume-title":"Swarm Intelligence","author":"J. Kennedy","year":"2001","unstructured":"Kennedy, J., Eberhart, R.C.: Swarm Intelligence. Morgan Kaufmann, San Francisco (2001)"},{"issue":"1","key":"6_CR63","doi-asserted-by":"publisher","first-page":"58","DOI":"10.1109\/4235.985692","volume":"6","author":"M. Clerc","year":"2002","unstructured":"Clerc, M., Kennedy, J.: The particle swarm\u2014explosion, stability, and convergence in a multidimensional complex space. IEEE Trans. on Evolutionary Computation\u00a06(1), 58\u201373 (2002)","journal-title":"IEEE Trans. on Evolutionary Computation"},{"key":"6_CR64","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"crossref","first-page":"665","DOI":"10.1007\/11902140_70","volume-title":"Computer and Information Sciences \u2013 ISCIS 2006","author":"A.T. \u015eamiloglu","year":"2006","unstructured":"\u015eamiloglu, A.T., Gazi, V., Koku, A.B.: Effects of asynchronism and neighborhood size on clustering in self-propelled particle systems. In: Levi, A., Sava\u015f, E., Yenig\u00fcn, H., Balc\u0131soy, S., Sayg\u0131n, Y. (eds.) ISCIS 2006. LNCS, vol.\u00a04263, pp. 665\u2013676. Springer, Heidelberg (2006)"},{"key":"6_CR65","series-title":"Lecture Notes in Computer Science","volume-title":"Proc. of SAB06 Workshop on Swarm Robotics","author":"A.T. \u015eamiloglu","year":"2006","unstructured":"\u015eamiloglu, A.T., Gazi, V., Koku, A.B.: An empirical study on the motion of self-propelled particles with turn angle restrictions. In: \u015eahin, E., et al. (eds.) SAB 2006. LNCS, Springer, Heidelberg (2006)"},{"issue":"5","key":"6_CR66","doi-asserted-by":"publisher","first-page":"818","DOI":"10.1109\/70.795787","volume":"15","author":"H. Ando","year":"1999","unstructured":"Ando, H., Oasa, Y., Suzuki, I., Yamashita, M.: Distributed memoryless point convergence algorithm for mobile robots with limited visibility. IEEE Transactions on Robotics and Automation\u00a015(5), 818\u2013828 (1999)","journal-title":"IEEE Transactions on Robotics and Automation"},{"doi-asserted-by":"crossref","unstructured":"Lin, J., Morse, A.S., Anderson, B.D.O.: The multi-agent rendezvous problem. In: Proc. of Conf. Decision Contr., Maui, Hawaii, USA, pp. 1508\u20131513 (2003)","key":"6_CR67","DOI":"10.1109\/CDC.2003.1272825"},{"doi-asserted-by":"crossref","unstructured":"Lin, J., Morse, A.S., Anderson, B.D.O.: The multi-agent rendezvous problem - the asynchronous case. In: Proc. of Conf. Decision Contr., Atlantis, Paradise Island, Bahamas, pp. 1926\u20131931 (2004)","key":"6_CR68","DOI":"10.1109\/CDC.2004.1430329"},{"issue":"1","key":"6_CR69","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1016\/j.automatica.2005.08.001","volume":"42","author":"J.A. Marshall","year":"2006","unstructured":"Marshall, J.A., Broucke, M.E., Francis, B.A.: Pursuit formations of unicycles. Automatica\u00a042(1), 3\u201312 (2006)","journal-title":"Automatica"},{"doi-asserted-by":"crossref","unstructured":"Olfati-Saber, R., Murray, R.M.: Distributed cooperative control of multiple vehicle formations using structural potential functions. In: Proc. IFAC World Congress, Barcelona, Spain (2002)","key":"6_CR70","DOI":"10.3182\/20020721-6-ES-1901.00244"},{"issue":"4","key":"6_CR71","doi-asserted-by":"publisher","first-page":"622","DOI":"10.1109\/TAC.2004.825639","volume":"49","author":"Z. Lin","year":"2004","unstructured":"Lin, Z., Broucke, M., Francis, B.: Local control strategies for groups of mobile autonomous agents. IEEE Trans. on Automatic Control\u00a049(4), 622\u2013629 (2004)","journal-title":"IEEE Trans. on Automatic Control"},{"key":"6_CR72","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1007\/978-1-4757-3758-5_4","volume-title":"Cooperative Control: Models, Applications and Algorithms","author":"A. Das","year":"2003","unstructured":"Das, A., Fierro, R., Kumar, V.: Control graphs for robot networks. In: Butenko, S., Murphey, R., Pardalos, P. (eds.) Cooperative Control: Models, Applications and Algorithms, pp. 55\u201373. Kluwer Academic Publishers, Dordrecht (2003)"},{"key":"6_CR73","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1007\/0-306-47536-7_5","volume-title":"Cooperative Control and Optimization","author":"R. Fierro","year":"2002","unstructured":"Fierro, R., Song, P., Das, A., Kumar, V.: Cooperative control of robot formations. In: Murphey, R., Pardalos, P. (eds.) Cooperative Control and Optimization, pp. 73\u201394. Kluwer Academic Publishers, Dordrecht (2002)"},{"doi-asserted-by":"crossref","unstructured":"Yu, C., Fidan, B., Anderson, B.: Persistence acquisition and maintenance for autonomous formations. In: Proc. 2nd Int. Conf. on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), pp. 379\u2013384 (2005)","key":"6_CR74","DOI":"10.1109\/ISSNIP.2005.1595609"},{"unstructured":"Yu, C., Fidan, B., Anderson, B.: Principles to control autonomous formation merging. In: Proc. American Control Conference, pp. 762\u2013768 (2006)","key":"6_CR75"},{"issue":"5","key":"6_CR76","doi-asserted-by":"publisher","first-page":"813","DOI":"10.1109\/TRA.2002.803463","volume":"18","author":"A. Das","year":"2002","unstructured":"Das, A., Fierro, R., Kumar, V., Ostrowski, J.: A vision-based formation control framework. IEEE Trans. on Robotics and Automation\u00a018(5), 813\u2013825 (2002)","journal-title":"IEEE Trans. on Robotics and Automation"},{"unstructured":"\u00d6gren, P., Fiorelli, E., Leonard, N.E.: Formations with a mission: Stable coordination of vehicle group maneuvers. In: Symposium on Mathematical Theory of Networks and Systems (2002)","key":"6_CR77"},{"unstructured":"Ren, W., Beard, R.W., Atkins, E.M.: A survey of consensus problems in multi-agent coordination. In: Proc. American Control Conf., Portland, OR, USA, pp. 1859\u20131864 (2005)","key":"6_CR78"},{"key":"6_CR79","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"crossref","first-page":"142","DOI":"10.1007\/978-3-540-28646-2_13","volume-title":"Ant Colony Optimization and Swarm Intelligence","author":"N. Gordon","year":"2004","unstructured":"Gordon, N., Wagner, I.A., Bruckstein, A.M.: Gathering multiple robotic a(ge)nts with limited sensing capabilities. In: Dorigo, M., Birattari, M., Blum, C., Gambardella, L.M., Mondada, F., St\u00fctzle, T. (eds.) ANTS 2004. LNCS, vol.\u00a03172, pp. 142\u2013153. Springer, Heidelberg (2004)"},{"key":"6_CR80","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"247","DOI":"10.1007\/3-540-44693-1_22","volume-title":"STACS 2001","author":"P. Flocchini","year":"2001","unstructured":"Flocchini, P., Prencipe, G., Santoro, N., Widmayer, P.: Gathering of autonomous mobile robots with limited visibility. In: Ferreira, A., Reichel, H. (eds.) STACS 2001. LNCS, vol.\u00a02010, pp. 247\u2013258. Springer, Heidelberg (2001)"},{"key":"6_CR81","volume-title":"Parallel and Distributed Computation: Numerical Methods","author":"D.P. Bertsekas","year":"1997","unstructured":"Bertsekas, D.P., Tsitsiklis, J.N.: Parallel and Distributed Computation: Numerical Methods. Athena Scientific, Belmont (1997)"},{"doi-asserted-by":"crossref","unstructured":"Strogatz, S.H., Stewart, I.: Coupled oscillators and biological synchronization. Scientific American, 102\u2013109 (1993)","key":"6_CR82","DOI":"10.1038\/scientificamerican1293-102"},{"issue":"18","key":"6_CR83","doi-asserted-by":"publisher","first-page":"2730","DOI":"10.1103\/PhysRevLett.68.2730","volume":"68","author":"S.H. Strogatz","year":"1992","unstructured":"Strogatz, S.H., Mirollo, R.E., Matthews, P.C.: Coupled nonlinear oscillators below the synchronization threshhold: Relaxation by generalized landau damping. Physical Review Letters\u00a068(18), 2730\u20132733 (1992)","journal-title":"Physical Review Letters"},{"issue":"9","key":"6_CR84","doi-asserted-by":"publisher","first-page":"1465","DOI":"10.1109\/TAC.2004.834433","volume":"49","author":"J.A. Fax","year":"2004","unstructured":"Fax, J.A., Murray, R.M.: Information flow and cooperative control of vehicle formations. IEEE Trans. on Automatic Control\u00a049(9), 1465\u20131476 (2004)","journal-title":"IEEE Trans. on Automatic Control"},{"volume-title":"Cooperative Control: Models, Applications and Algorithms","year":"2003","unstructured":"Butenko, S., Murphey, R., Pardalos, P. (eds.): Cooperative Control: Models, Applications and Algorithms. Kluwer Academic Publishers, Dordrecht (2003)","key":"6_CR85"},{"volume-title":"Cooperative Control and Optimization","year":"2002","unstructured":"Murphey, R., Pardalos, P. (eds.): Cooperative Control and Optimization. Kluwer Academic Publishers, Dordrecht (2002)","key":"6_CR86"},{"key":"6_CR87","series-title":"Lecture Notes in Control and Information Sciences","volume-title":"Cooperative Control: 2003 Block Island Workshop on Cooperative Control","year":"2005","unstructured":"Kumar, V.J., Leonard, N.E., Morse, A.S. (eds.): Cooperative Control: 2003 Block Island Workshop on Cooperative Control. Lecture Notes in Control and Information Sciences, vol.\u00a0309. Springer, Heidelberg (2005)"},{"key":"6_CR88","series-title":"Lecture Notes in Control and Information Sciences","volume-title":"Group Coordination and Cooperative Control","year":"2006","unstructured":"Pettersen, K., Nijmeijer, H., Gravdahl, J.T. (eds.): Group Coordination and Cooperative Control. Lecture Notes in Control and Information Sciences, vol.\u00a0336. Springer, Heidelberg (2006)"},{"issue":"1","key":"6_CR89","doi-asserted-by":"publisher","first-page":"90","DOI":"10.1177\/027836498600500106","volume":"5","author":"O. Khatib","year":"1986","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. The International Journal of Robotics Research\u00a05(1), 90\u201398 (1986)","journal-title":"The International Journal of Robotics Research"},{"issue":"5","key":"6_CR90","doi-asserted-by":"publisher","first-page":"501","DOI":"10.1109\/70.163777","volume":"8","author":"E. Rimon","year":"1992","unstructured":"Rimon, E., Koditschek, D.E.: Exact robot navigation using artificial potential functions. IEEE Trans. on Robotics and Automation\u00a08(5), 501\u2013518 (1992)","journal-title":"IEEE Trans. on Robotics and Automation"},{"key":"6_CR91","doi-asserted-by":"publisher","first-page":"171","DOI":"10.1016\/S0921-8890(99)00004-4","volume":"27","author":"J.H. Reif","year":"1999","unstructured":"Reif, J.H., Wang, H.: Social potential fields: A distributed behavioral control for autonomous robots. Robotics and Autonomous Systems\u00a027, 171\u2013194 (1999)","journal-title":"Robotics and Autonomous Systems"},{"key":"6_CR92","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-84379-2","volume-title":"Sliding Modes in Control and Optimization","author":"V.I. Utkin","year":"1992","unstructured":"Utkin, V.I.: Sliding Modes in Control and Optimization. Springer, Heidelberg (1992)"},{"unstructured":"Gazi, V.: Formation control of mobile robots using decentralized nonlinear servomechanism. In: 12\u2019th Meditteranean Conference on Control and Automation, Kusadasi, Turkey (2004)","key":"6_CR93"},{"issue":"5","key":"6_CR94","doi-asserted-by":"publisher","first-page":"847","DOI":"10.1109\/TRA.2002.804500","volume":"18","author":"P. \u00d6gren","year":"2002","unstructured":"\u00d6gren, P., Egerstedt, M., Hu, X.: A control Lyapunov function approach to multi-agent coordination. IEEE Trans. on Robotics and Automation\u00a018(5), 847\u2013851 (2002)","journal-title":"IEEE Trans. on Robotics and Automation"},{"issue":"8","key":"6_CR95","doi-asserted-by":"publisher","first-page":"1292","DOI":"10.1109\/TAC.2004.832203","volume":"49","author":"P. \u00d6gren","year":"2004","unstructured":"\u00d6gren, P., Fiorelli, E., Leonard, N.E.: Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment. IEEE Trans. on Automatic Control\u00a049(8), 1292\u20131302 (2004)","journal-title":"IEEE Trans. on Automatic Control"},{"doi-asserted-by":"crossref","unstructured":"Wu, H., Jagannathan, S.: Adaptive neural network control and wireless sensor network-based localization for UAV formation. In: Proc. 14th Mediterranean Conference on Control and Automation, Ancona, Italy (2006)","key":"6_CR96","DOI":"10.1109\/MED.2006.328861"},{"issue":"6","key":"6_CR97","doi-asserted-by":"publisher","first-page":"926","DOI":"10.1109\/70.736776","volume":"14","author":"T. Balch","year":"1998","unstructured":"Balch, T., Arkin, R.C.: Behavior-based formation control for multirobot teams. IEEE Trans. on Robotics and Automation\u00a014(6), 926\u2013939 (1998)","journal-title":"IEEE Trans. on Robotics and Automation"},{"issue":"1","key":"6_CR98","doi-asserted-by":"publisher","first-page":"52","DOI":"10.1016\/j.robot.2005.09.014","volume":"54","author":"C.J. Harper","year":"2006","unstructured":"Harper, C.J., Winfield, A.F.T.: A methodology for provably stable intelligent control. Robotics and Autonomous Systems\u00a054(1), 52\u201373 (2006)","journal-title":"Robotics and Autonomous Systems"},{"key":"6_CR99","first-page":"281","volume-title":"Proceedings of the IEEE International Conference on Information, Intelligence, and Systems","author":"W.M. Spears","year":"1999","unstructured":"Spears, W.M., Gordon, D.F.: Using artificial physics to control agents. In: Proceedings of the IEEE International Conference on Information, Intelligence, and Systems, pp. 281\u2013288. IEEE Computer Society Press, Los Alamitos (1999)"},{"key":"6_CR100","first-page":"681","volume-title":"Proceedings of the IEEE International Conference on Information, Intelligence, and Systems","author":"D.F. Gordon","year":"1999","unstructured":"Gordon, D.F., Spears, W.M., Sokolsky, O., Lee, I.: Distributed spatial control, global monitoring and steering of mobile agents. In: Proceedings of the IEEE International Conference on Information, Intelligence, and Systems, pp. 681\u2013688. IEEE Computer Society Press, Los Alamitos (1999)"},{"key":"6_CR101","series-title":"Lecture Notes in Artificial Intelligence","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1007\/978-3-540-45133-4_16","volume-title":"Formal Approaches to Agent-Based Systems","author":"D.F. Gordon-Spears","year":"2003","unstructured":"Gordon-Spears, D.F., Spears, W.M.: Analysis of a phase transition in a physics-based multiagent system. In: Hinchey, M.G., Rash, J.L., Truszkowski, W.F., Rouff, C.A., Gordon-Spears, D.F. (eds.) FAABS 2002. LNCS (LNAI), vol.\u00a02699, pp. 193\u2013207. Springer, Heidelberg (2003)"},{"issue":"2-3","key":"6_CR102","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1023\/B:AURO.0000033970.96785.f2","volume":"17","author":"W.M. Spears","year":"2004","unstructured":"Spears, W.M., Spears, D.F., Hamann, J.C., Heil, R.: Distributed, physics-based control of swarms of vehicles. Auton. Robots\u00a017(2-3), 137\u2013162 (2004)","journal-title":"Auton. Robots"},{"doi-asserted-by":"crossref","unstructured":"Zarzhitsky, D., Spears, D.F., Spears, W.M., Thayer, D.R.: A fluid dynamics approach to multi-robot chemical plume tracing. In: AAMAS, pp. 1476\u20131477 (2004)","key":"6_CR103","DOI":"10.1109\/IROS.2005.1545428"},{"unstructured":"Spears, W.M., Heil, R., Spears, D.F., Zarzhitsky, D.: Physicomimetics for mobile robot formations. In: AAMAS, pp. 1528\u20131529 (2004)","key":"6_CR104"},{"key":"6_CR105","series-title":"Lecture Notes in Artificial Intelligence","doi-asserted-by":"crossref","first-page":"131","DOI":"10.1007\/978-3-540-30960-4_9","volume-title":"Formal Approaches to Agent-Based Systems","author":"W.M. Spears","year":"2004","unstructured":"Spears, W.M., Spears, D.F., Heil, R.: A formal analysis of potential energy in a multi-agent system. In: Hinchey, M.G., Rash, J.L., Truszkowski, W.F., Rouff, C.A. (eds.) FAABS 2004. LNCS (LNAI), vol.\u00a03228, pp. 131\u2013145. Springer, Heidelberg (2004)"},{"key":"6_CR106","series-title":"Lecture Notes in Artificial Intelligence","doi-asserted-by":"crossref","first-page":"146","DOI":"10.1007\/978-3-540-30960-4_10","volume-title":"Formal Approaches to Agent-Based Systems","author":"D. Zarzhitsky","year":"2004","unstructured":"Zarzhitsky, D., Spears, D.F., Thayer, D.R., Spears, W.M.: Agent-based chemical plume tracing using fluid dynamics. In: Hinchey, M.G., Rash, J.L., Truszkowski, W.F., Rouff, C.A. (eds.) FAABS 2004. LNCS (LNAI), vol.\u00a03228, pp. 146\u2013160. Springer, Heidelberg (2004)"},{"doi-asserted-by":"crossref","unstructured":"Spears, W.M., Spears, D.F., Heil, R., Kerr, W., Hettiarachchi, S.: An overview of physicomimetics. In: SAB, pp. 84\u201397 (2004)","key":"6_CR107","DOI":"10.1007\/978-3-540-30552-1_8"},{"issue":"3","key":"6_CR108","doi-asserted-by":"publisher","first-page":"485","DOI":"10.1109\/70.499830","volume":"12","author":"G. Beni","year":"1996","unstructured":"Beni, G., Liang, P.: Pattern reconfiguration in swarms\u2014convergence of a distributed asynchronous and bounded iterative algorithm. IEEE Trans. on Robotics and Automation\u00a012(3), 485\u2013490 (1996)","journal-title":"IEEE Trans. on Robotics and Automation"},{"key":"6_CR109","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1007\/978-3-540-30552-1_13","volume-title":"Swarm Robotics","author":"G. Beni","year":"2005","unstructured":"Beni, G.: Order by disordered action in swarms. In: \u015eahin, E., Spears, W.M. (eds.) Swarm Robotics. LNCS, vol.\u00a03342, pp. 153\u2013171. Springer, Heidelberg (2005)"},{"key":"6_CR110","series-title":"Lecture Notes in Artificial Intelligence","doi-asserted-by":"crossref","first-page":"667","DOI":"10.1007\/11840541_55","volume-title":"From Animals to Animats 9","author":"A.T. \u015eamiloglu","year":"2006","unstructured":"\u015eamiloglu, A.T., Gazi, V., Koku, A.B.: Asynchronous cyclic pursuit. In: Nolfi, S., Baldassarre, G., Calabretta, R., Hallam, J.C.T., Marocco, D., Meyer, J.-A., Miglino, O., Parisi, D. (eds.) SAB 2006. LNCS (LNAI), vol.\u00a04095, pp. 667\u2013678. Springer, Heidelberg (2006)"},{"key":"6_CR111","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1016\/0025-5564(94)00074-A","volume":"128","author":"S. Gueron","year":"1995","unstructured":"Gueron, S., Levin, S.A.: The dynamics of group formation. Mathematical Biosciences\u00a0128, 243\u2013264 (1995)","journal-title":"Mathematical Biosciences"},{"key":"6_CR112","doi-asserted-by":"publisher","first-page":"363","DOI":"10.1006\/tpbi.1994.1032","volume":"46","author":"R. Durrett","year":"1994","unstructured":"Durrett, R., Levin, S.: The importance of being discrete (and spatial). Theoretical Population Biology\u00a046, 363\u2013394 (1994)","journal-title":"Theoretical Population Biology"},{"issue":"2-3","key":"6_CR113","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1023\/B:AURO.0000033971.75494.c8","volume":"17","author":"W. Agassounon","year":"2004","unstructured":"Agassounon, W., Martinoli, A., Easton, K.: Macroscopic modeling of aggregation experiments using embodied agents in teams of constant and time-varying sizes. Autonomous Robots\u00a017(2-3), 163\u2013192 (2004)","journal-title":"Autonomous Robots"},{"key":"6_CR114","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1007\/978-3-540-30552-1_12","volume-title":"Swarm Robotics","author":"K. Lerman","year":"2005","unstructured":"Lerman, K., Martinoli, A., Galstyan, A.: A review of probabilistic macroscopic models for swarm robotic systems. In: \u015eahin, E., Spears, W.M. (eds.) Swarm Robotics. LNCS, vol.\u00a03342, pp. 143\u2013152. Springer, Heidelberg (2005)"},{"key":"6_CR115","series-title":"Lecture Notes in Artificial Intelligence","volume-title":"From Animals to Animats 9","author":"O. Soysal","year":"2006","unstructured":"Soysal, O., Sahin, E.: A macroscopic model for probabilistic aggregation in swarm robotic systems. In: Nolfi, S., Baldassarre, G., Calabretta, R., Hallam, J.C.T., Marocco, D., Meyer, J.-A., Miglino, O., Parisi, D. (eds.) SAB 2006. LNCS (LNAI), vol.\u00a04095, Springer, Heidelberg (2006)"},{"key":"6_CR116","first-page":"556","volume-title":"Proc. IEEE Conf. on Decision and Control","author":"J. Baillieul","year":"2003","unstructured":"Baillieul, J., Suri, A.: Information patterns and hedging Brockett\u2019s theorem in controlling vehicle formations. In: Proc. IEEE Conf. on Decision and Control, pp. 556\u2013563. IEEE Computer Society Press, Los Alamitos (2003)"},{"doi-asserted-by":"crossref","unstructured":"Arcak, M.: Passivity as a design tool for group coordination. In: Proc. American Control Conf., pp. 29\u201334 (2006)","key":"6_CR117","DOI":"10.1109\/ACC.2006.1655326"}],"container-title":["Lecture Notes in Computer Science","Swarm Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-540-71541-2_6.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T21:03:11Z","timestamp":1737320591000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-540-71541-2_6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[null]]},"ISBN":["9783540715405","9783540715412"],"references-count":117,"URL":"https:\/\/doi.org\/10.1007\/978-3-540-71541-2_6","relation":{},"subject":[]}}