# Multiagent Planning and Control for Swarm Herding in 2-D Obstacle Environments Under Bounded Inputs

> Research article (IEEE Transactions on Robotics, 2021) · cited 51× · AI/ML

**Wikidata**: [openalex:W3157539364](https://www.wikidata.org/wiki/openalex:W3157539364)  
**Source**: https://4ort.xyz/entity/multiagent-planning-and-control-for-swarm-herding-in-2-d-obstacle-environments-under-bounded-inputs