# The Multilayer Control Scheme: A Strategy to Guide $$n$$ n -Robots Formations with Obstacle Avoidance

> Research article (Journal of Control Automation and Electrical Systems, 2015) · cited 18× · AI/ML

**Wikidata**: [openalex:W2466017564](https://www.wikidata.org/wiki/openalex:W2466017564)  
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