# Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities

> Research article (Sensors, 2021) · cited 16× · AI/ML

**Wikidata**: [openalex:W3174851263](https://www.wikidata.org/wiki/openalex:W3174851263)  
**Source**: https://4ort.xyz/entity/formation-tracking-control-and-obstacle-avoidance-of-unicycle-type-robots-guaranteeing-continuous-velocities