When Helbing meets Laumond: The Headed Social Force Model F. Farina, D. Fontanelli, A. Garulli, A. Giannitrapani, D. Prattichizzo Dec 1, 2016 PDF Cite Multi-agent systems Related Asynchronous distributed method of multipliers for constrained nonconvex optimization Distributed set membership estimation with time-varying graph topology Collective circular motion of multi-vehicle systems Experimental validation of collective circular motion for nonholonomic multi-vehicle systems Analysis of consensus protocols with bounded measurement errors