# Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays

> Research article (IEEE Access, 2019) · cited 33× · AI/ML

**Wikidata**: [openalex:W2973316093](https://www.wikidata.org/wiki/openalex:W2973316093)  
**Source**: https://4ort.xyz/entity/distributed-multi-robot-formation-control-based-on-bipartite-consensus-with-time-varying-delays