# Consensus for heterogeneous multi-agent systems with nonconvex input constraints and nonuniform time delays

> Research article (Journal of the Franklin Institute, 2020) · cited 11× · AI/ML

**Wikidata**: [openalex:W2998757656](https://www.wikidata.org/wiki/openalex:W2998757656)  
**Source**: https://4ort.xyz/entity/consensus-for-heterogeneous-multi-agent-systems-with-nonconvex-input-constraints-and-nonuniform-time-delays