A graph based formation control of nonholonomic wheeled robots using a novel edge-weight function. - Zhuping Wang; Lei Wang 166; Hao Zhang 008; Qijun Chen (SMC, 2017)

Distributed Formation Control of Nonholonomic Wheeled Mobile Robots Subject to Longitudinal Slippage Constraints. - Zhuping Wang; Lei Wang 166; Hao Zhang 008; Ljubo B. Vlacic; Qijun Chen (IEEE Trans. Syst. Man Cybern. Syst., 2021)