# A Virtual Spring Method for the Multi-robot Path Planning and Formation Control

> Research article (International Journal of Control Automation and Systems, 2019) · cited 45× · AI/ML

**Wikidata**: [openalex:W2933899040](https://www.wikidata.org/wiki/openalex:W2933899040)  
**Source**: https://4ort.xyz/entity/a-virtual-spring-method-for-the-multi-robot-path-planning-and-formation-control