# Consensus for heterogeneous multi-agent systems under fixed and switching topologies

> Research article (Journal of the Franklin Institute, 2015) · cited 106× · AI/ML

**Wikidata**: [openalex:W2029251882](https://www.wikidata.org/wiki/openalex:W2029251882)  
**Source**: https://4ort.xyz/entity/consensus-for-heterogeneous-multi-agent-systems-under-fixed-and-switching-topologies