# Adaptive output-constrained finite-time formation control for multiple unmanned surface vessels with directed communication topology

> Research article (Ocean Engineering, 2023) · cited 20× · AI/ML

**Wikidata**: [openalex:W4389750226](https://www.wikidata.org/wiki/openalex:W4389750226)  
**Source**: https://4ort.xyz/entity/adaptive-output-constrained-finite-time-formation-control-for-multiple-unmanned-surface-vessels-with-directed-communicat