# Collision-Free Fuzzy Formation Control of Swarm Robotic Cyber-Physical Systems Using a Robust Orthogonal Firefly Algorithm

> Research article (IEEE Access, 2019) · cited 21× · AI/ML

**Wikidata**: [openalex:W2908086372](https://www.wikidata.org/wiki/openalex:W2908086372)  
**Source**: https://4ort.xyz/entity/collision-free-fuzzy-formation-control-of-swarm-robotic-cyber-physical-systems-using-a-robust-orthogonal-firefly-algorit