Miyakoshi, K., Shun Ito, Hidetoshi Oya, Yoshikatsu Hoshi, and Shunya Nagai. “Synthesis of Formation Control Systems for Multi-Agent Systems under Control Gain Perturbations”. Advances in Technology Innovation, vol. 5, no. 2, Apr. 2020, pp. 112-25, doi:10.46604/aiti.2020.4136.