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Hai‐Tao Zhang, Zhaomeng Cheng, Guanrong Chen, Chunguang Li (2015). Model predictive flocking control for second-order multi-agent systems with input constraints. IEEE Transactions on Circuits and Systems I Regular Papers, 62(6), pp. 1599-1606, DOI: 10.1109/tcsi.2015.2418871.
