A port-Hamiltonian approach to formation control using bearing measurements and range observers. - Geoff Stacey; Robert E. Mahony (CDC, 2013)

A bondgraph approach to formation control using relative state measurements. - Geoff Stacey; Robert E. Mahony; Peter Corke (ECC, 2013)

A Passivity-Based Approach to Formation Control Using Partial Measurements of Relative Position. - Geoff Stacey; Robert E. Mahony (IEEE Trans. Autom. Control., 2016)

The Role of Symmetry in Rigidity Analysis: A Tool for Network Localization and Formation Control. - Geoff Stacey; Robert E. Mahony (IEEE Trans. Autom. Control., 2018)