Naomi, E.L., Edward, F., (2001), Virtual Leaders, Artificial Potentials and Coordinated Control of Groups, Proceeding of the 40th IEEE Conference on Decision and Control, Orlando, Florida USA, Vol.3, p.2968-2973. [1] Filippo, A., Stefano, C., Thor, I.F., (2006), Formation Control of Under actuated Surface Vessels using the Null-Space-Based Behavioral Control, Proceeding of the IEEE/RSJ, International Conference on Intelligent Robotic and System, Beijing, China, p.5942-5947. [2] Travis, D., Jagannathan, S.,(2007), Control of Nonholonomic Mobile Robot Formations: Back stepping Kinematics into Dynamics, 16th IEEE International Conference on Control Applications, Singapore, p.94-99. [3] Hashem, A., Kenneth, R.M.,Lucas, C.M., reza, A.S., Sliding-Mode Tracking Control of Surface Vessels,(2008), IEEE Transactions on industrial Electronics, Vol.55, p.4004-4012. [4] Jevtic, A., Gazi, P., Andina, D.,Jamshidi, M.,(2010).,Building a swarm of robotic bees, World Automation Congress(WAC), p.1-6. [5] Fidan, B., Gazi, V., Shaohao, Z., Na, C., Karatas, E.,(2013)., Single view Distance estimation Based Formation Control of Robotic Swarms, industrial electronics, IEEE., Vol.60, P.5781-5791. [6] Gazi, V., (2014)., Distributed output agreement in class of uncertain linear heterogeneous multi agent dynamic systems, European Control Conference(ECC), p.177-183. [7] Dong, W.,(2010)., cooperative Control of under actuated surface vessels,IET Control Theory And Applications, Vol.4., p.1569-1580. [8] Bradley, E.B., (2012)., Formation Control of Under Actuated Autonomous Surface vessels using Redundant manipulator Analogs, IEEE International Conference on robotic and Automation(ICRA)., p.4892-4897. [9] Ihle, I.A., Jouffroy, J., Fossen, T.I.,(2006)., Robust Formation Control of marine craft using lagrange multipliers, Springer-Verlag. [10] kristin, Y.P., Jan,T.G., Henk, N.,(2006)., Group Coordination and Cooperative Control, Springer-Verlag [11] Veysel, G., Kevin, M.P., (2011)., Swarm Stability and optimization, Springer-Verlag. [12] Chung, F.R.K.,(1997)., Spectral graph theory, Regional Conf.Series in Mathematics of Amer, Mathematical Soc, Vol.92. [13] Merris, R.,(1998)., Laplacian Graph eigenvectors, Linear algebra Appl., p.221-236. [14] Dong, W., Farrell, J.A.,(2008), formation control of multiple underactuated surface vessels,IET Control Theory and Applications, Vol.2, p.1077-1085. [15] Lucas, C.M., Hashem,A., (2011), Predictive and Sliding mode Cascade Control for Unmanned Surface Vessels, American Control Conference(ACC), p.184-189. [16]