# Affine formation control for heterogeneous multi-agent systems with directed interaction networks

> Research article (Neurocomputing, 2018) · cited 46× · AI/ML

**Wikidata**: [openalex:W2900804064](https://www.wikidata.org/wiki/openalex:W2900804064)  
**Source**: https://4ort.xyz/entity/affine-formation-control-for-heterogeneous-multi-agent-systems-with-directed-interaction-networks