# Optimal formation control and collision avoidance in environment with multiple rectangle obstacles

> Research article (Journal of the Franklin Institute, 2018) · cited 14× · AI/ML

**Wikidata**: [openalex:W2887970150](https://www.wikidata.org/wiki/openalex:W2887970150)  
**Source**: https://4ort.xyz/entity/optimal-formation-control-and-collision-avoidance-in-environment-with-multiple-rectangle-obstacles