# Angle-constrained formation control under directed non-triangulated sensing graphs

> Research article (Automatica, 2024) · cited 22× · AI/ML

**Wikidata**: [openalex:W4391589623](https://www.wikidata.org/wiki/openalex:W4391589623)  
**Source**: https://4ort.xyz/entity/angle-constrained-formation-control-under-directed-non-triangulated-sensing-graphs