# Trajectron++: Multi-Agent Generative Trajectory Forecasting With Heterogeneous Data for Control

> Research article (2020) · cited 86× · AI/ML

**Wikidata**: [openalex:W3000520642](https://www.wikidata.org/wiki/openalex:W3000520642)  
**Source**: https://4ort.xyz/entity/trajectron-multi-agent-generative-trajectory-forecasting-with-heterogeneous-data-for-control