The following publications are possibly variants of this publication:
- Merging Globally Rigid Formations of Mobile Autonomous AgentsTolga Eren, Brian D. O. Anderson, Walter Whiteley, A. Stephen Morse, Peter N. Belhumeur. atal 2004: 1260-1261 [doi]
- Information structures to control formation splitting and mergingTolga Eren, Brian D. O. Anderson, A. Stephen Morse, Walter Whiteley, Peter N. Belhumeur. amcc 2004: 4951-4956 [doi]
- Principles to control autonomous formation mergingChangbin Yu, Baris Fidan, Brian D. O. Anderson. amcc 2006: [doi]