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Featured Application: This paper addresses the formation control of a team of agents based on the decentralized control and the recently introduced reconfigurable virtual linkage approach. Following a decentralized control architecture, a decentralized virtual linkage approach is introduced. As compared to the original virtual linkage approach, the proposed approach uses decentralized architecture rather than hierarchical architecture, which does not require role assignments in each virtualdoi:10.3390/app8112020 fatcat:jbf5wnuk3vgwlorolceznacml4