# 3D hybrid formation control of an underwater robot swarm: Switching topologies, unmeasurable velocities, and system constraints

> Research article (ISA Transactions, 2022) · cited 30× · AI/ML

**Wikidata**: [openalex:W4310275137](https://www.wikidata.org/wiki/openalex:W4310275137)  
**Source**: https://4ort.xyz/entity/3d-hybrid-formation-control-of-an-underwater-robot-swarm-switching-topologies-unmeasurable-velocities-and-system-constra