Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance,

R. Tron, J. Thomas, G. Loianno, K. Daniilidis, and V. Kumar, “Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance,” in 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, pp. 1806-1813.

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