# Distributed adaptive fault-tolerant formation control for heterogeneous multiagent systems under switching directed topologies

> Research article (Journal of the Franklin Institute, 2022) · cited 30× · AI/ML

**Wikidata**: [openalex:W4225964826](https://www.wikidata.org/wiki/openalex:W4225964826)  
**Source**: https://4ort.xyz/entity/distributed-adaptive-fault-tolerant-formation-control-for-heterogeneous-multiagent-systems-under-switching-directed-topo