Flock navigation with dynamic hierarchy and subjective weights using nonlinear MPC. - Aneek Nag; Shuo Huang; Andreas Themelis; Kaoru Yamamoto (CCTA, 2022)

Distributed control for flock navigation using nonlinear model predictive control. - Aneek Nag; Kaoru Yamamoto (Adv. Robotics, 2024)