# Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology

> Research article (Sensors, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4292961963](https://www.wikidata.org/wiki/openalex:W4292961963)  
**Source**: https://4ort.xyz/entity/adaptive-fault-tolerant-formation-control-of-heterogeneous-multi-agent-systems-under-directed-communication-topology