Bibtex entry

@article{YueBal:21-001,
        author={D. Yue and S. Baldi and J. Cao and Q. Li and B. {D}e Schutter},
        title={A directed spanning tree adaptive control solution to time-varying formations},
        journal={IEEE Transactions on Control of Network Systems},
        volume={8},
        number={2},
        pages={690--701},
        month=jun,
        year={2021},
        doi={10.1109/TCNS.2021.3050332}
        }

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