# Decentralized formation cooperative control for homing of a swarm of underactuated AUVs via singular perturbation

> Research article (Ocean Engineering, 2022) · cited 11× · AI/ML

**Wikidata**: [openalex:W4281655541](https://www.wikidata.org/wiki/openalex:W4281655541)  
**Source**: https://4ort.xyz/entity/decentralized-formation-cooperative-control-for-homing-of-a-swarm-of-underactuated-auvs-via-singular-perturbation