# Event-triggered distributed robust optimal control of nonholonomic mobile agents with obstacle avoidance formation, input constraints and external disturbances

> Research article (Journal of the Franklin Institute, 2023) · cited 21× · AI/ML

**Wikidata**: [openalex:W4362520027](https://www.wikidata.org/wiki/openalex:W4362520027)  
**Source**: https://4ort.xyz/entity/event-triggered-distributed-robust-optimal-control-of-nonholonomic-mobile-agents-with-obstacle-avoidance-formation-input