The following publications are possibly variants of this publication: 
- Event-triggered circle formation control for second-order-agent systemMei Yu, Hangfei Wang, Guangming Xie, Kaiqi Jin. ijon, 275:462-469, 2018.  [doi] 
- Distributed Event-Triggered Circle Formation Control for Multiagent Systems with Nonuniform QuantizationJiayan Wen, Haijiang Zhang, Guangxing Tan, Ning Cai, Guangming Xie. complexity, 2021, 2021.  [doi] 
- Scalable Formation Control for Second-Order Multiagent Systems: An Event-Triggered Predefined-Time StrategyMengyang Xu, Xia Chen, Fei Hao 0002. tsmc, 55(2):1466-1477, February 2025.  [doi] 
- Observer-based event-triggered formation tracking control for second-order multi-agent systems in constrained regionFenglan Sun, Zhonghua Xu, Wei Zhu 0004, Jürgen Kurths. chinaf, 68(2), 2025.  [doi]