Three and higher dimensional autonomous formations: Rigidity, persistence and structural persistence.

Changbin Yu Julien M. Hendrickx Baris Fidan Brian D. O. Anderson Vincent D. Blondel Three and higher dimensional autonomous formations: Rigidity, persistence and structural persistence. 387-402 2007 43 Automatica 3 http://dx.doi.org/10.1016/j.automatica.2006.08.025 db/journals/automatica/automatica43.html#YuHFAB07