# Decentralized adaptive flocking control algorithm with avoiding collision and preserving connectivity for crowded UUV swarm with uncertainties and input saturation

> Research article (Ocean Engineering, 2021) · cited 15× · AI/ML

**Wikidata**: [openalex:W3196137316](https://www.wikidata.org/wiki/openalex:W3196137316)  
**Source**: https://4ort.xyz/entity/decentralized-adaptive-flocking-control-algorithm-with-avoiding-collision-and-preserving-connectivity-for-crowded-uuv-sw