# Decentralized leader-follower formation control with obstacle avoidance of multiple unicycle mobile robots

> Research article (2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering (CCECE), 2015) · cited 23× · AI/ML

**Wikidata**: [openalex:W1594190992](https://www.wikidata.org/wiki/openalex:W1594190992)  
**Source**: https://4ort.xyz/entity/decentralized-leader-follower-formation-control-with-obstacle-avoidance-of-multiple-unicycle-mobile-robots