@article{optimaltimeinvariantformationtrackingfor,
  title = {Optimal Time-Invariant Formation Tracking for a Second-Order Multi-Agent System},
  author = {Marco Fabris and Angelo Cenedese and John Hauser},
  year = {2022},
  eprint = {2202.10196},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2202.10196v1},
}