Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays. - Chengguo Zong; Zhijian Ji; Lei Tian 003; Yuan Zhang (IEEE Access, 2019)

Bipartite consensus-based formation control of high-order multi-robot systems with time-varying delays. - Wei Lu; Chengguo Zong; Jinliang Li; Dejian Liu (Trans. Inst. Meas. Control, 2022)