# Affine formation maneuver control of underactuated surface vessels: Guaranteed safety under moving obstacles in narrow channels

> Research article (Ocean Engineering, 2024) · cited 13× · AI/ML

**Wikidata**: [openalex:W4394589559](https://www.wikidata.org/wiki/openalex:W4394589559)  
**Source**: https://4ort.xyz/entity/affine-formation-maneuver-control-of-underactuated-surface-vessels-guaranteed-safety-under-moving-obstacles-in-narrow-ch