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Link to original content: https://dblp.org/rec/conf/iros/HuangB93.xml
Qing Huang Gerardo Beni Stationary waves in two-dimensional cyclic swarms. 433-440 1993 IROS https://doi.org/10.1109/IROS.1993.583133 conf/iros/1993 db/conf/iros/iros1993.html#HuangB93