# Finite-time cooperative circumnavigation control of multiple second-order agents with desired formations

> Research article (Journal of the Franklin Institute, 2023) · cited 10× · AI/ML

**Wikidata**: [openalex:W4380201524](https://www.wikidata.org/wiki/openalex:W4380201524)  
**Source**: https://4ort.xyz/entity/finite-time-cooperative-circumnavigation-control-of-multiple-second-order-agents-with-desired-formations