@article{singularityfreeformationpathfollowingof,
  title = {Singularity-free Formation Path Following of Underactuated AUVs: Extended Version},
  author = {Josef Matouš and Kristin Y. Pettersen and Damiano Varagnolo and Claudio Paliotta},
  year = {2022},
  eprint = {2210.14646},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.14646v3},
}