# Closed-Form Barrier Functions for Multi-Agent Ellipsoidal Systems With Uncertain Lagrangian Dynamics

> Research article (IEEE Control Systems Letters, 2019) · cited 43× · AI/ML

**Wikidata**: [openalex:W2946703615](https://www.wikidata.org/wiki/openalex:W2946703615)  
**Source**: https://4ort.xyz/entity/closed-form-barrier-functions-for-multi-agent-ellipsoidal-systems-with-uncertain-lagrangian-dynamics