# Collaborative Optimal Formation Control for Heterogeneous Multi-Agent Systems

> Research article (Entropy, 2022) · cited 13× · AI/ML

**Wikidata**: [openalex:W4304128559](https://www.wikidata.org/wiki/openalex:W4304128559)  
**Source**: https://4ort.xyz/entity/collaborative-optimal-formation-control-for-heterogeneous-multi-agent-systems