# Circle formation control for multi-agent systems with a leader

> Research article (Control Theory and Technology, 2015) · cited 26× · AI/ML

**Wikidata**: [openalex:W2017270459](https://www.wikidata.org/wiki/openalex:W2017270459)  
**Source**: https://4ort.xyz/entity/circle-formation-control-for-multi-agent-systems-with-a-leader