# A Decentralized Cluster Formation Containment Framework for Multirobot Systems

> Research article (IEEE Transactions on Robotics, 2021) · cited 152× · AI/ML

**Wikidata**: [openalex:W3153865577](https://www.wikidata.org/wiki/openalex:W3153865577)  
**Source**: https://4ort.xyz/entity/a-decentralized-cluster-formation-containment-framework-for-multirobot-systems