@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}
}