# Centralized and distributed model predictive control for consensus of non-linear multi-agent systems with time-varying obstacle avoidance

> Research article (ISA Transactions, 2022) · cited 25× · AI/ML

**Wikidata**: [openalex:W4283726724](https://www.wikidata.org/wiki/openalex:W4283726724)  
**Source**: https://4ort.xyz/entity/centralized-and-distributed-model-predictive-control-for-consensus-of-non-linear-multi-agent-systems-with-time-varying-o