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Link to original content: https://dblp.org/rec/journals/siamco/CarliB09.xml
Ruggero Carli Francesco Bullo Quantized Coordination Algorithms for Rendezvous and Deployment. 1251-1274 2009 48 SIAM J. Control. Optim. 3 https://doi.org/10.1137/070709906 db/journals/siamco/siamco48.html#CarliB09