Zhang, Hai-Tao, Zhai, Chao, Chen, Zhiyong. Institute of Electrical and Electronics Engineers (IEEE); 2011. A general alignment repulsion algorithm for flocking of multi-agent systems.
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Chen, Zhiyong, Zhang, Hai-Tao, Zhai, Chao. Institute of Electrical and Electronics Engineers (IEEE); 2010. Asymptotic synchronization and collision avoidance for multi-agent flocking.