[1]P.R. Lawson, The terrestrial planet finder, in: Proceedings of IEEE Aerospace Conference, 2001, pp. 2005–2011. [2]D.W. Casbeer, D.B. Kingston, R.W. Beard, T.W. Mclain Cooperative forest fire surveillance using a team of small unmanned air vehicles International Journal of Systems Science, 37 (6) (2006), pp. 351–360 [3]N. Lechevin, C.A. Rabbath, P. Sicard Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles Automatica, 42 (12) (2006), pp. 2131–2141 [4]D.P. Scharf, F.Y. Hadaegh, S.R. Ploen, A survey of spacecraft formation flying guidance and control (part i): guidance, in: Proceedings of American Control Conference, 2003, pp. 1733–1739. [5]D.P. Scharf, F.Y. Hadaegh, S.R. Ploen, A survey of spacecraft formation flying guidance and control (part ii): control, in: Proceedings of American Control Conferences, 2004, pp. 2976–2985. [6]Saeid Jafari, Amir Ajorlou, Amir G. Aghdam, Siamak Tafazoli, Distributed control of formation flying spacecraft using deterministic communication schedulers, in: Proceedings of the 49th IEEE Conference on Decision and Control, 2010, pp. 3084–3090. [7]J. Lavaei, A. Momeni, A.G. Aghdam A model predictive decentralized control scheme with reduced communication requirement for spacecraft formation IEEE Transactions on Control Systems Technology, 16 (2) (2008), pp. 268–278 [8]R.W. Beard, F.Y. Hadaegh Fuel optimized rotation for satellite formations in free space Proceedings of American Control Conference (1999), pp. 2975–2979 [9]M.B. Milam, N. Petit, R.M. Murray, Constrained trajectory generation for micro-satellite formation flying, in: Proceedings of AIAA Guidance, Navigation and Control Conference, 2001, pp. 328–333. [10]O. Junge, S. Ober-Blöbaum, Optimal reconfiguration of formation flying satellites, in: Proceedings of the 44th IEEE Conference on Decision and Control, 2005, pp. 66–71. [11]J. Hu, M. Prandini, S. Sastry Optimal coordinated maneuvers for three dimensional aircraft conflict resolution. AIAA Journal of Guidance, Control and Dynamics, 25 (5) (2002), pp. 888–900 [12]E. Frazzoli, Z.H. Mao, J.H. Oh, E. Feron Resolution of conflicts involving many aircraft via semidefinite programming AIAA Journal of Guidance, Control and Dynamics, 24 (1) (2001), pp. 79–86 [13]C. Sultan, S. Seereeram, R.K. Mehra, F.Y. Hadaegh, Energy optimal reconfiguration for large scale formation flying, in: Proceedings of American Control Conference, 2004, pp. 2986–2991. [14]C. Xiang, A.G. Aghdam, A two-stage formation flying strategy to reduce the mission time, in: Proceedings of IEEE International Conference on System of Systems Engineering, 2007. [15]Amir Ajorlou, Kaveh Moezzi, Amir G. Aghdam, Siamak Tafazoli, Sergey G. Nersesov Two-stage energy-optimal formation reconfiguration strategy Automatica (2012) http://dx.doi.org/10.1016/j.automatica.2012.06.059 [16] K.C. Kiwiel Methods of Descent for Nondifferentiable Optimization Springer-Verlag (1985) [17] M.L. Balinski, P.M. Wolfe, D.P. Bertsekas Nondifferentiable Optimization North-Holland Publishing Company (1975) [18] N.Z. Shor Minimization Methods for Non-Differentiable Functions, Springer Series in Computational Mathematics (1985) [19] D.P. Bertsekas, A. Nedic, A.E. Ozdaglar Convex Analysis and Optimization Athena Scientific (2003) [20] D.P. Bertsekas Nonlinear Programming Athena Scientific (1999) [21] S.P. Boyd, C.H. Barratt Linear Controller Design: Limits of Performance Prentice-Hall (1991) [22] Jonathan M Borwein, Adrian S. Lewis Convex Analysis and Nonlinear Optimization: Theory and Examples Birkhauser (2006) [23] Kenneth R. Davidson, Allan P. Donsig Real Analysis and Applications: Theory in Practice Springer (2010)