# Scale-Free Collaborative Protocol Design for Output Synchronization of Heterogeneous Multi-Agent Systems With Nonuniform Communication Delays

> Research article (IEEE Transactions on Network Science and Engineering, 2022) · cited 13× · AI/ML

**Wikidata**: [openalex:W4285147619](https://www.wikidata.org/wiki/openalex:W4285147619)  
**Source**: https://4ort.xyz/entity/scale-free-collaborative-protocol-design-for-output-synchronization-of-heterogeneous-multi-agent-systems-with-nonuniform