# Connectivity Preserving Formation Stabilization in an Obstacle-Cluttered Environment in the Presence of Time-Varying Communication Delays

> Research article (IEEE Transactions on Automatic Control, 2021) · cited 51× · AI/ML

**Wikidata**: [openalex:W3205315134](https://www.wikidata.org/wiki/openalex:W3205315134)  
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