# Event-triggered formation control with obstacle avoidance for multi-agent systems applied to multi-UAV formation flying

> Research article (Control Engineering Practice, 2024) · cited 13× · AI/ML

**Wikidata**: [openalex:W4403454844](https://www.wikidata.org/wiki/openalex:W4403454844)  
**Source**: https://4ort.xyz/entity/event-triggered-formation-control-with-obstacle-avoidance-for-multi-agent-systems-applied-to-multi-uav-formation-flying