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MR2889319 (2012m:93041) 93A14 (93B52 93C15 94C15)
Xiao, Feng; Wang, Long; Chen, Jie; Gao, Yanping Finite-time formation control for multi-agent systems. Automatica J. IFAC 45 (2009), no. 11, 2605–2611.
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