# Formation control and collision avoidance for multi-agent systems based on position estimation

> Research article (ISA Transactions, 2016) · cited 115× · AI/ML

**Wikidata**: [openalex:W3022312225](https://www.wikidata.org/wiki/openalex:W3022312225)  
**Source**: https://4ort.xyz/entity/formation-control-and-collision-avoidance-for-multi-agent-systems-based-on-position-estimation