Cooperative and Coordinated Control Scheme for Multi-Agent Systems
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Optimal and Cooperative Control of Vehicle Formations, J. Alexander Fax, PhD Dissertation, 2002. A good analysis of cooperative control stability in the second half.
Stability and performance analysis with double-graph model of vehicle formations, Z. Jin and R. M. Murray, American Control Conference 2003, Jun. 4-6, 2003, Denver, Colorado. The double-graph model was introduced in this paper.