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Olfati-Saber, Reza and Murray, Richard M. (2002) Graph rigidity and distributed formation stabilization of multi-vehicle systems. In: Proceedings of the 41st IEEE Conference on Decision and Control, December 10-13, 2002, Las Vegas, Nevada, USA. Vol.3. IEEE , Los Alamitos, CA, pp. 2965-2971. ISBN 0-7803-7516-5. http://resolver.caltech.edu/CaltechAUTHORS:OLFcdc02b

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