A graph theory based characterization of controllability for multi-agent systems with fixed topology.

Zhijian Ji Hai Lin Tong Heng Lee A graph theory based characterization of controllability for multi-agent systems with fixed topology. 5262-5267 2008 CDC http://dx.doi.org/10.1109/CDC.2008.4738636 conf/cdc/2008 db/conf/cdc/cdc2008.html#JiLL08