@ARTICLE{7272051,
  author={Deghat, Mohammad and Anderson, Brian D. O. and Lin, Zhiyun},
  journal={IEEE Transactions on Automatic Control}, 
  title={Combined Flocking and Distance-Based Shape Control of Multi-Agent Formations}, 
  year={2016},
  volume={61},
  number={7},
  pages={1824-1837},
  doi={10.1109/TAC.2015.2480217}}