# Herding by caging: a formation-based motion planning framework for guiding mobile agents

> Research article (Autonomous Robots, 2021) · cited 26× · AI/ML

**Wikidata**: [openalex:W3135428035](https://www.wikidata.org/wiki/openalex:W3135428035)  
**Source**: https://4ort.xyz/entity/herding-by-caging-a-formation-based-motion-planning-framework-for-guiding-mobile-agents