# Adaptive Multirobot Formation Planning to Enclose and Track a Target With Motion and Visibility Constraints

> Research article (IEEE Transactions on Robotics, 2019) · cited 53× · AI/ML

**Wikidata**: [openalex:W2981621706](https://www.wikidata.org/wiki/openalex:W2981621706)  
**Source**: https://4ort.xyz/entity/adaptive-multirobot-formation-planning-to-enclose-and-track-a-target-with-motion-and-visibility-constraints