# Optimally distributed formation control with obstacle avoidance for mixed‐order multi‐agent systems under switching topologies

> Research article (IET Control Theory and Applications, 2018) · cited 36× · AI/ML

**Wikidata**: [openalex:W2802069151](https://www.wikidata.org/wiki/openalex:W2802069151)  
**Source**: https://4ort.xyz/entity/optimally-distributed-formation-control-with-obstacle-avoidance-for-mixedorder-multiagent-systems-under-switching-topolo