Fumin Zhang, Michael Goldgeier and P. S. Krishnaprasad, “Control of Small Formations using Shape Coordinates,” Proc. of 2003 IEEE International Conference on Robotics and Automation, 2510-2515, Taipei, Taiwan, September 14-19, 2003. Preprint [bibtex]

Fumin Zhang and Salman Haq, "Boundary Following by Robot Formations without GPS," in Proc. of 2008 International Conf. on Robotics and Automation (ICRA 2008), 152-157. Preprint [bibtex]

Fumin Zhang, "Cooperative Shape Control of Particle Formations," in Proc. 46th IEEE Conference on Decision and Control (CDC 2007),2516-2521. Preprint [bibtex]