@phdthesis{Xu2014,
  author      = {Zhihao Xu},
  title       = {Cooperative Formation Controller Design for Time-Delay and Optimality Problems},
  type        = {doctoralthesis},
  school      = {Universit{\"a}t W{\"u}rzburg},
  doi       = {10.25972/OPUS-10555},
  year        = {2014},
}