Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the Caltech MVWT. - Bao Q. Nguyen; Yao-Ling Chuang; David Tung; Chung H. Hsieh; Zhipu Jin; Ling Shi; Daniel E. Marthaler; Andrea L. Bertozzi; Richard M. Murray (ACC, 2005)