Vehicle networks: achieving regular formation. - Sonja Glavaski; Madalena Chaves; Robert Day; Parthasarathi Nag; Anca Williams; Wei Zhang (ACC, 2003)

Graph theoretic methods in the stability of vehicle formations. - Gerardo Lafferriere; John S. Caughman IV; Anca Williams (ACC, 2004)

Formations of formations: hierarchy and stability. - Anca Williams; Sonja Glavaski; Tariq Samad (ACC, 2004)

Connectivity and convergence of formations. - Anca Williams; Sonja Glavaski (ACC, 2005)