@INPROCEEDINGS{7402533,
  author={Park, Myoung-Chul and Ahn, Hyo-Sung},
  booktitle={2015 54th IEEE Conference on Decision and Control (CDC)}, 
  title={Distance-based control of formations with orientation control}, 
  year={2015},
  volume={},
  number={},
  pages={2199-2204},
  doi={10.1109/CDC.2015.7402533}}