Nima Moshtagh Ali Jadbabaie Kostas Daniilidis Vision-based Distributed Coordination and Flocking of Multi-agent Systems. 41-48 2005 conf/rss/2005 Robotics: Science and Systems http://www.roboticsproceedings.org/rss01/p06.html db/conf/rss/rss2005.html#MoshtaghJD05