# Directed Formation Control of n Planar Agents with Distance and Area Constraints

> Research article (2019 American Control Conference (ACC), 2019) · cited 12× · AI/ML

**Wikidata**: [openalex:W2972645059](https://www.wikidata.org/wiki/openalex:W2972645059)  
**Source**: https://4ort.xyz/entity/directed-formation-control-of-n-planar-agents-with-distance-and-area-constraints