# Decentralized Multi-Robot Formation Control with Communication Delay and Asynchronous Clock

> Research article (Journal of Intelligent & Robotic Systems, 2017) · cited 20× · AI/ML

**Wikidata**: [openalex:W2609260874](https://www.wikidata.org/wiki/openalex:W2609260874)  
**Source**: https://4ort.xyz/entity/decentralized-multi-robot-formation-control-with-communication-delay-and-asynchronous-clock