# Circular Formation Control with Collision Avoidance Based on Probabilistic Position

> Research article (Intelligent Automation & Soft Computing, 2023) · cited 18× · AI/ML

**Wikidata**: [openalex:W4368228366](https://www.wikidata.org/wiki/openalex:W4368228366)  
**Source**: https://4ort.xyz/entity/circular-formation-control-with-collision-avoidance-based-on-probabilistic-position