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MR2761211 93B52 (34A36 49J52 90C35 93C41 93C65)
Yu, Wenwu; Chen, Guanrong; Cao, Ming Distributed leader-follower flocking control for multi-agent dynamical systems with time-varying velocities. Systems Control Lett. 59 (2010), no. 9, 543–552.
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