# Optimal dynamic formation control of multi-agent systems in constrained environments

> Research article (Automatica, 2016) · cited 66× · AI/ML

**Wikidata**: [openalex:W2516551914](https://www.wikidata.org/wiki/openalex:W2516551914)  
**Source**: https://4ort.xyz/entity/optimal-dynamic-formation-control-of-multi-agent-systems-in-constrained-environments