# Robust formation tracking and collision avoidance for uncertain nonlinear multi-agent systems subjected to heterogeneous communication delays

> Research article (Neurocomputing, 2020) · cited 16× · AI/ML

**Wikidata**: [openalex:W3005946367](https://www.wikidata.org/wiki/openalex:W3005946367)  
**Source**: https://4ort.xyz/entity/robust-formation-tracking-and-collision-avoidance-for-uncertain-nonlinear-multi-agent-systems-subjected-to-heterogeneous