# A moving obstacle avoidance strategy-based collaborative formation for the bionic multi-underwater spherical robot control system

> Research article (Ocean Engineering, 2025) · cited 14× · AI/ML

**Wikidata**: [openalex:W4409202981](https://www.wikidata.org/wiki/openalex:W4409202981)  
**Source**: https://4ort.xyz/entity/a-moving-obstacle-avoidance-strategy-based-collaborative-formation-for-the-bionic-multi-underwater-spherical-robot-contr