# Time-varying Formation Tracking with Collision Avoidance for Multi-agent Systems

> Research article (IFAC-PapersOnLine, 2017) · cited 16× · AI/ML

**Wikidata**: [openalex:W2765974396](https://www.wikidata.org/wiki/openalex:W2765974396)  
**Source**: https://4ort.xyz/entity/time-varying-formation-tracking-with-collision-avoidance-for-multi-agent-systems