# Event-based formation control of heterogeneous multiagent systems with leader agent of nonzero input

> Research article (Information Sciences, 2022) · cited 18× · AI/ML

**Wikidata**: [openalex:W4220749062](https://www.wikidata.org/wiki/openalex:W4220749062)  
**Source**: https://4ort.xyz/entity/event-based-formation-control-of-heterogeneous-multiagent-systems-with-leader-agent-of-nonzero-input