# Fast Finite-Time Bipartite Formation With Obstacle Avoidance for Time-Delay Multiagent Systems: Application in Mobile Robot Swarm

> Research article (IEEE Transactions on Industrial Informatics, 2025) · cited 43× · AI/ML

**Wikidata**: [openalex:W4408304994](https://www.wikidata.org/wiki/openalex:W4408304994)  
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