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  \entry{Cao2007}{inproceedings}{}
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    \keyw{distributed control;mobile robots;multi-robot systems;spatial
  variables control;triangular formation;mobile autonomous agents;collinear
  formations;distributed control law;Autonomous agents;USA Councils;Distributed
  control;H infinity control;Differential equations;Information
  technology;Art;Australia Council}
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    \field{labelyear}{2007}
    \field{labeldatesource}{}
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    \field{abstract}{%
    This paper proposes a distributed control law for maintaining a triangular
  formation in the plane consisting of three mobile autonomous agents. It is
  shown that the control law can cause any initially non-collinear,
  positively-oriented {resp. negatively-oriented} triangular formation to
  converge exponentially fast to a desired positively-oriented {resp.
  negatively- oriented} triangular formation. It is also shown that there is a
  thin set of initially collinear formations which remain collinear and may
  drift off to infinity as t rarr infin. These findings complement and extend
  earlier findings cited below.%
    }
    \field{booktitle}{2007 46th IEEE Conference on Decision and Control}
    \verb{doi}
    \verb 10.1109/CDC.2007.4434757
    \endverb
    \field{issn}{0191-2216}
    \field{pages}{3603\bibrangedash 3608}
    \field{title}{Controlling a triangular formation of mobile autonomous
  agents}
    \field{year}{2007}
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