[1] | Lian, Z.; Deshmukh, A.: Performance prediction of an unmanned airborn vehicle multi-agent system, European journal of operational research 172, No. 2, 680-695 (2006) · Zbl 1168.90669 · doi:10.1016/j.ejor.2004.10.015 |

[2] | Lin, Z.; Francis, B.; Maggiore, M.: Necessary and sufficient graphical conditions for formation control of unicycles, IEEE transactions on automatic control 50, No. 1, 121-127 (2005) |

[3] | J. Lin, A.S. Morse, B.D.O. Anderson, The multi-agent rendezvous problem, in: Proceedings of 42nd IEEE Conference on Decision and Control, vol. 2 (9) 2003, pp. 1508–1513. |

[4] | Olfati-Saber, R.: Flocking for multi-agent dynamic systems: algorithms and theory, IEEE transactions on automatic control 51, No. 3, 401-420 (2006) |

[5] | R. Olfati-Saber, J.S. Shamma, Consensus filters for sensor networks and distributed sensor fusion, in: Procceedings of 44th IEEE Conference on Decision and Control, and the European Control Conference, 2005, pp. 6698–6703. |

[6] | Jadbabaie, A.; Lin, J.; Morse, A. S.: Coordination of groups of mobile autonomous agents using nearest neighbor rules, IEEE transactions on automatic control 48, No. 6, 943-948 (2007) |

[7] | Vicsek, T.; Czirok, A.; Jacob, E. B.; Cohen, I.; Schochet, O.: Novel type of phase of phase trasitions in a system of self-dedriven particles, Physical review letters 75, No. 6, 1226-1229 (1995) |

[8] | Savkin, A. V.: Coordinated collective motion of groups of autonomous mobile robots: analysis of vicsek’s model, IEEE transactions on automatic control 49, No. 6, 981-983 (2004) |

[9] | H.G. Tanner, A. Jadbabaie, G.J. Pappas, Stable flocking of mobile agents, Part I: Fixed topology; Part II: Dynamic topology, in: Proceedings of 42nd IEEE Conference on Decision and Control, 2, 2003, pp. 2010–2015, pp. 2016–2021. |

[10] | Lin, Z.; Brouchke, M.; Francis, B.: Local control strategies for a groups of mobile atutonomous agents, IEEE transactions on automatic control 49, No. 4, 622-629 (2004) |

[11] | W. Ren, R.W. Beard, Consensus of information under dyanmically changing interaction topologies, in: Preccedings of the 2004 Americian Control Conference, Boston, MA, 2004, pp. 4939–4944. |

[12] | R. Olfati-Saber, R.M. Murray, Consensus protocols for networks of dynamic agents, in: Proceedings of 2003 American Control Conference, 2003. |

[13] | Olfati-Saber, R.; Murray, R. M.: Consensus problems in networks of agents with switching topology and time-delays, IEEE transactions on automatic control 49, No. 9, 1520-1533 (2004) |

[14] | Hatano, Y.; Medbshi, M.: Agreement over random networks, IEEE transactions on automatic control 50, No. 11, 1867-1872 (2005) |

[15] | Huang, M.; Manton, J. H.: Coordination and consensus of networked agents with noisy measurents: stochastic algorithms and asymptotic behavior, SIAM journal on control and optimization 48, No. 1, 134-161 (2009) · Zbl 1182.93108 · doi:10.1137/06067359X |

[16] | Moreau, L.: Stability of multiagent systems with time-dependent communication links, IEEE transactions on automatic control 50, No. 2, 169-182 (2005) |

[17] | Tian, Y.; Liu, C.: Consensus of multi-agent systems with diverse input and communication delays, IEEE transactions on automatic control 53, No. 9, 2122-2128 (2008) |

[18] | Godsil, C.; Royle, G.: Algebraic graph theory, (2001) |

[19] | Hong, Y.; Gao, L.; Cheng, D.; Hu, J.: Lyapunov-based approach to multiagent systems with switching jointly connected interconnection, IEEE transactions on automatic control 52, No. 5, 943-948 (2007) |

[20] | Q. Hui, W.M. Haddad, S.P. Bhat, Finite-time semistability theory with applications to consensus protocols in dynamical networks, in: Proceedings of 2007 American Control Conference, 2007, pp. 2411–2416. |

[21] | Pham, Q.; Slotine, J. J.: Stable concurrent sysnchronization in dynamical system networks, Neural networks 20, No. 1, 62-77 (2007) · Zbl 1158.68449 · doi:10.1016/j.neunet.2006.07.008 |

[22] | Slotine, J. J. E.; Wang, W.: A study of synchronization and group cooperation using partial contraction theory, Cooperative control: the 2003 block island workshop (2004) |

[23] | Wang, W.; Slotine, J. J. E.: Contraction analysis of time-delayed communications and group cooperation, IEEE transactions on automatic control 51, No. 4, 712-717 (2006) |

[24] | Acrak, M.: Passivity as a design tool for group coordination, IEEE transactions on automatic control 52, No. 8, 1380-1390 (2007) |

[25] | Chopra, N.; Spong, M. W.: Advances in robot control, (2007) |

[26] | Zhu, Y. H.; Qi, H.; Cheng, D.: Synchronisation of a class of networked passive systems with switching topology, International journal of control 82, No. 7, 1326-1333 (2009) · Zbl 1168.93395 · doi:10.1080/00207170802549560 |

[27] | Hammel, D.: Formation flight as an energy saving mechanism, Israel journal of zool 41, 261-278 (1995) |

[28] | Andersson, M.; Wallander, J.: Kin selection and reciprocity in flight formation, Behavioral ecology 15, No. 1, 158-162 (2004) |

[29] | Liu, B.; Chu, T.; Wang, L.; Xie, G.: Controllability of a leader–follower dynamic network with switching topology, IEEE transactions on automatic control 53, No. 4, 1009-1013 (2008) |

[30] | M. Ji, M. Egerstedt, A graph-theoretic characterization of controllability for multi-agent systems, in: Proceedings of the 2007 American Control Conference, New York, USA, 2007, pp. 4588–4593. |

[31] | Rahmani, A.; Ji, M.; Mesbahi, M.; Egerstedt, M.: Controllability of multi-agent systems from a graph-theoretic perspective, SIAM journal on control and optimization 48, No. 1, 162-186 (2009) · Zbl 1182.93025 · doi:10.1137/060674909 |

[32] | Cheng, D.; Wang, J.; Hu, X.: An extension of Lasall’s invariance principle and its application to multi-agent consensus, IEEE transactions on automatic control 53, No. 7, 1765-1770 (2008) |

[33] | Hong, Y.; Chen, G.; Bushnellc, L.: Distributed observers design for leader-following control of multi-agent networks, Automatica 44, No. 3, 846-850 (2008) |

[34] | Dimarogonasa, D. V.; Tsiotras, P.; Kyriakopoulos, K. J.: Leader–follower cooperative attitude control of multiple rigid bodies, Systems control letters 58, No. 6, 429-435 (2009) · Zbl 1161.93002 · doi:10.1016/j.sysconle.2009.02.002 |

[35] | Consolini, L.; Morbidi, F.; Prattichizzo, D.; Tosques, M.: Leader–follower formation control of nonholonomic mobile robots with input constraints, Automatica 44, No. 5, 1343-1349 (2008) |

[36] | Peng, K.; Yanga, Y.: Leader-following consensus problem with a varying-velocity leader and time-varying delays, Physica A 388, No. 2–3, 193-208 (2009) |

[37] | Wang, W.; Slotine, J. J. E.: A theoretical study of different leader roles in networks, IEEE transactions on automatic control 51, No. 7, 1156-1161 (2006) |

[38] | Wang, J.; Cheng, D.; Hu, X.: Consensus of multi-agent linear dynamical systems, Asian journal of control 10, No. 2, 144-155 (2008) |

[39] | Wang, J.; Tan, Y.; Mareels, I.: Robustness analysis of leader–follower consensus, Journal of systems science and complexity 22, No. 2, 1559-7067 (2009) |

[40] | Wang, L.; Liu, Z.: Robust consensus of multi-agent systems with noise, Science in China, series F 52, No. 2, 824-834 (2009) · Zbl 1182.93011 · doi:10.1007/s11432-009-0082-0 |

[41] | Horn, R.; Johnson, C.: Matrix analysis, (1985) |