# A Formation Collision Avoidance System for Unmanned Surface Vehicles With Leader-Follower Structure

> Research article (IEEE Access, 2019) · cited 43× · AI/ML

**Wikidata**: [openalex:W2916453681](https://www.wikidata.org/wiki/openalex:W2916453681)  
**Source**: https://4ort.xyz/entity/a-formation-collision-avoidance-system-for-unmanned-surface-vehicles-with-leader-follower-structure