# Formation Control of Heterogeneous Multi-Agent Systems Under Fixed and Switching Hierarchies

> Research article (IEEE Access, 2024) · cited 23× · AI/ML

**Wikidata**: [openalex:W4400071815](https://www.wikidata.org/wiki/openalex:W4400071815)  
**Source**: https://4ort.xyz/entity/formation-control-of-heterogeneous-multi-agent-systems-under-fixed-and-switching-hierarchies