@article{paley2021planar,
  title={Planar formation control of a school of robotic fish: Theory and experiments},
  author={Paley, Derek A and Thompson, Anthony A and Wolek, Artur and Ghanem, Paul},
  journal={Frontiers in Control Engineering},
  volume={2},
  pages={782121},
  year={2021},
  publisher={Frontiers Media SA},
  doi={10.3389/fcteg.2021.782121}
}