# Bearing-ratio-of-distance rigidity theory with application to directly similar formation control

> Research article (Automatica, 2019) · cited 27× · AI/ML

**Wikidata**: [openalex:W2970524647](https://www.wikidata.org/wiki/openalex:W2970524647)  
**Source**: https://4ort.xyz/entity/bearing-ratio-of-distance-rigidity-theory-with-application-to-directly-similar-formation-control