# Distance- and Velocity-Based Collision Avoidance for Time-Varying Formation Control of Second-Order Multi-Agent Systems

> Research article (IEEE Transactions on Circuits & Systems II Express Briefs, 2020) · cited 54× · AI/ML

**Wikidata**: [openalex:W3083824892](https://www.wikidata.org/wiki/openalex:W3083824892)  
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