# An Error Transformation Approach for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Networked Uncertain Underactuated Surface Vessels

> Research article (IEEE Transactions on Cybernetics, 2018) · cited 146× · AI/ML

**Wikidata**: [openalex:W2806070934](https://www.wikidata.org/wiki/openalex:W2806070934)  
**Source**: https://4ort.xyz/entity/an-error-transformation-approach-for-connectivity-preserving-and-collision-avoiding-formation-tracking-of-networked-unce