# Consensus of Heterogeneous Multi-Agent Systems Under Directed Topology

> Research article (IEEE Access, 2022) · cited 13× · AI/ML

**Wikidata**: [openalex:W4206288530](https://www.wikidata.org/wiki/openalex:W4206288530)  
**Source**: https://4ort.xyz/entity/consensus-of-heterogeneous-multi-agent-systems-under-directed-topology