Yang Lu Sha Luo Pengming Zhu Weijia Yao Héctor García de Marina Xinglong Zhang Xin Xu 0001 Versatile Distributed Maneuvering with Generalized Formations using Guiding Vector Fields. 2025 May abs/2505.05840 CoRR https://doi.org/10.48550/arXiv.2505.05840 db/journals/corr/corr2505.html#abs-2505-05840 streams/journals/corr