# A Barycentric Coordinate-Based Approach to Formation Control Under Directed and Switching Sensing Graphs

> Research article (IEEE Transactions on Cybernetics, 2017) · cited 73× · AI/ML

**Wikidata**: [openalex:W2598532228](https://www.wikidata.org/wiki/openalex:W2598532228)  
**Source**: https://4ort.xyz/entity/a-barycentric-coordinate-based-approach-to-formation-control-under-directed-and-switching-sensing-graphs