@article{3ddirectedformationcontrolwithglobal,
  title = {3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates},
  author = {Omid Mirzaeedodangeh and Farhad Mehdifar and Dimos V. Dimarogonas},
  year = {2024},
  eprint = {2403.13609},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2403.13609v2},
}