# Cooperative formation control for multiple surface vessels based on barrier Lyapunov function and self-structuring neural networks

> Research article (Ocean Engineering, 2020) · cited 39× · AI/ML

**Wikidata**: [openalex:W3090707275](https://www.wikidata.org/wiki/openalex:W3090707275)  
**Source**: https://4ort.xyz/entity/cooperative-formation-control-for-multiple-surface-vessels-based-on-barrier-lyapunov-function-and-self-structuring-neura