# 2-D Directed Formation Control Based on Bipolar Coordinates

> Research article (IEEE Transactions on Automatic Control, 2022) · cited 24× · AI/ML

**Wikidata**: [openalex:W3188098090](https://www.wikidata.org/wiki/openalex:W3188098090)  
**Source**: https://4ort.xyz/entity/2-d-directed-formation-control-based-on-bipolar-coordinates