# Deep hierarchical reinforcement learning based formation planning for multiple unmanned surface vehicles with experimental results

> Research article (Ocean Engineering, 2023) · cited 36× · AI/ML

**Wikidata**: [openalex:W4386021429](https://www.wikidata.org/wiki/openalex:W4386021429)  
**Source**: https://4ort.xyz/entity/deep-hierarchical-reinforcement-learning-based-formation-planning-for-multiple-unmanned-surface-vehicles-with-experiment