# Bearing-based prescribed-time formation control of underactuated autonomous surface vehicles with the interception of attackers

> Research article (Ocean Engineering, 2022) · cited 20× · AI/ML

**Wikidata**: [openalex:W4292088823](https://www.wikidata.org/wiki/openalex:W4292088823)  
**Source**: https://4ort.xyz/entity/bearing-based-prescribed-time-formation-control-of-underactuated-autonomous-surface-vehicles-with-the-interception-of-at