# Distributed finite-time bipartite consensus of multi-agent systems on directed graphs: Theory and experiment in nano-quadcopters formation

> Research article (Journal of the Franklin Institute, 2020) · cited 27× · AI/ML

**Wikidata**: [openalex:W3011741145](https://www.wikidata.org/wiki/openalex:W3011741145)  
**Source**: https://4ort.xyz/entity/distributed-finite-time-bipartite-consensus-of-multi-agent-systems-on-directed-graphs-theory-and-experiment-in-nano-quad