# Bipartite consensus-based formation control of high-order multi-robot systems with time-varying delays

> Research article (Transactions of the Institute of Measurement and Control, 2021) · cited 12× · AI/ML

**Wikidata**: [openalex:W3209964012](https://www.wikidata.org/wiki/openalex:W3209964012)  
**Source**: https://4ort.xyz/entity/bipartite-consensus-based-formation-control-of-high-order-multi-robot-systems-with-time-varying-delays