@INPROCEEDINGS{6858587,
  author={Kang, Sung-Mo and Park, Myoung-Chul and Lee, Byung-Hun and Ahn, Hyo-Sung},
  booktitle={2014 American Control Conference}, 
  title={Distance-based formation control with a single moving leader}, 
  year={2014},
  volume={},
  number={},
  pages={305-310},
  doi={10.1109/ACC.2014.6858587}}