SCIENCE CHINA Information Sciences, Volume 62 , Issue 9 : 192205(2019) https://doi.org/10.1007/s11432-018-9759-9

Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology

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  • ReceivedOct 5, 2018
  • AcceptedDec 12, 2018
  • PublishedJul 26, 2019



This work was supported in part by Shandong Provincial Natural Science Foundation (Grant Nos. ZR2018MF015, ZR2018MF023), in part by National Natural Science Foundation of China (Grant Nos. 61751202, 61572540), in part by Doctoral Scientific Research Staring Fund of Binzhou University (Grant No. 2016Y14). We would like to thank the mobility program of Shandong University of Science and Technology for the support in the work.


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