# Emergent Hypotrochoidal and Epitrochoidal Formations in a Swarm of Agents

> Research article (IEEE Transactions on Automatic Control, 2023) · cited 14× · AI/ML

**Wikidata**: [openalex:W4381163317](https://www.wikidata.org/wiki/openalex:W4381163317)  
**Source**: https://4ort.xyz/entity/emergent-hypotrochoidal-and-epitrochoidal-formations-in-a-swarm-of-agents