# A Multilayer Graph for Multiagent Formation and Trajectory Tracking Control Based on MPC Algorithm

> Research article (IEEE Transactions on Cybernetics, 2021) · cited 66× · AI/ML

**Wikidata**: [openalex:W3205697202](https://www.wikidata.org/wiki/openalex:W3205697202)  
**Source**: https://4ort.xyz/entity/a-multilayer-graph-for-multiagent-formation-and-trajectory-tracking-control-based-on-mpc-algorithm