# Autonomous cooperative formation control of underactuated USVs based on improved MPC in complex ocean environment

> Research article (Ocean Engineering, 2023) · cited 93× · AI/ML

**Wikidata**: [openalex:W4319449803](https://www.wikidata.org/wiki/openalex:W4319449803)  
**Source**: https://4ort.xyz/entity/autonomous-cooperative-formation-control-of-underactuated-usvs-based-on-improved-mpc-in-complex-ocean-environment