# Null-space-based modulated reference trajectory generator for multi-robots formation in obstacle environment

> Research article (ISA Transactions, 2021) · cited 34× · AI/ML

**Wikidata**: [openalex:W3165271585](https://www.wikidata.org/wiki/openalex:W3165271585)  
**Source**: https://4ort.xyz/entity/null-space-based-modulated-reference-trajectory-generator-for-multi-robots-formation-in-obstacle-environment