# A collision avoidance approach via negotiation protocol for a swarm of USVs

> Research article (Ocean Engineering, 2021) · cited 46× · AI/ML

**Wikidata**: [openalex:W3131229895](https://www.wikidata.org/wiki/openalex:W3131229895)  
**Source**: https://4ort.xyz/entity/a-collision-avoidance-approach-via-negotiation-protocol-for-a-swarm-of-usvs