# Collision-Free Formation Control for Heterogeneous Multiagent Systems Under DoS Attacks

> Research article (IEEE Transactions on Cybernetics, 2024) · cited 29× · AI/ML

**Wikidata**: [openalex:W4400975503](https://www.wikidata.org/wiki/openalex:W4400975503)  
**Source**: https://4ort.xyz/entity/collision-free-formation-control-for-heterogeneous-multiagent-systems-under-dos-attacks