# Collision-Free and Connectivity-Preserving Formation Control of Nonlinear Multi-Agent Systems With External Disturbances

> Research article (IEEE Transactions on Vehicular Technology, 2023) · cited 47× · AI/ML

**Wikidata**: [openalex:W4361767099](https://www.wikidata.org/wiki/openalex:W4361767099)  
**Source**: https://4ort.xyz/entity/collision-free-and-connectivity-preserving-formation-control-of-nonlinear-multi-agent-systems-with-external-disturbances