# Collision-Free Formation-Containment Tracking of Multi-USV Systems with Constrained Velocity and Driving Force

> Research article (Journal of Marine Science and Engineering, 2024) · cited 10× · AI/ML

**Wikidata**: [openalex:W4391681446](https://www.wikidata.org/wiki/openalex:W4391681446)  
**Source**: https://4ort.xyz/entity/collision-free-formation-containment-tracking-of-multi-usv-systems-with-constrained-velocity-and-driving-force