# Adaptive leader-following formation control with collision avoidance for a class of second-order nonlinear multi-agent systems

> Research article (Neurocomputing, 2019) · cited 148× · AI/ML

**Wikidata**: [openalex:W2938228337](https://www.wikidata.org/wiki/openalex:W2938228337)  
**Source**: https://4ort.xyz/entity/adaptive-leader-following-formation-control-with-collision-avoidance-for-a-class-of-second-order-nonlinear-multi-agent-s