Formation Control
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![Formation Control [2504.14874] Event triggered optimal formation control for nonlinear ...](https://ar5iv.labs.arxiv.org/html/2504.14874/assets/x1.png)



























































































![Formation Control [2312.12861] Safe Multi-Agent Reinforcement Learning for Formation ...](https://ar5iv.labs.arxiv.org/html/2312.12861/assets/figures/Problem_formulation.png)









