@Article{IJRNC-20_Hu-Bhowmick-Lanzon,
 author       = "Hu, J. and Bhowmick, P. and Lanzon, A.",
 title        = "Two-layer distributed formation-containment control strategy for linear swarm systems: {A}lgorithm and experiments",
 journal      = "International Journal of Robust and Nonlinear Control",
 volume       = 30,
 number       = 16,
 pages        = "6433-6453",
 doi          = "10.1002/rnc.5105",
 month        = jul,
 year         = 2020}