# Affine Formation Maneuver Control for Multi-Heterogeneous Unmanned Surface Vessels in Narrow Channel Environments

> Research article (Journal of Marine Science and Engineering, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4386814173](https://www.wikidata.org/wiki/openalex:W4386814173)  
**Source**: https://4ort.xyz/entity/affine-formation-maneuver-control-for-multi-heterogeneous-unmanned-surface-vessels-in-narrow-channel-environments