# Distributed robust adaptive formation control of multi-agent systems with heterogeneous uncertainties and directed graphs

> Research article (Automatica, 2023) · cited 24× · AI/ML

**Wikidata**: [openalex:W4386456135](https://www.wikidata.org/wiki/openalex:W4386456135)  
**Source**: https://4ort.xyz/entity/distributed-robust-adaptive-formation-control-of-multi-agent-systems-with-heterogeneous-uncertainties-and-directed-graph