Miyakoshi, Kazuki, Shun Ito, Hidetoshi Oya, Yoshikatsu Hoshi, and Shunya Nagai. 2020. “Synthesis of Formation Control Systems for Multi-Agent Systems under Control Gain Perturbations”. Advances in Technology Innovation 5 (2):112-25. https://doi.org/10.46604/aiti.2020.4136.