# Design and Implementation of a Model Predictive Formation Tracking Control System for Underwater Multiple Small Spherical Robots

> Research article (Applied Sciences, 2023) · cited 14× · AI/ML

**Wikidata**: [openalex:W4390348267](https://www.wikidata.org/wiki/openalex:W4390348267)  
**Source**: https://4ort.xyz/entity/design-and-implementation-of-a-model-predictive-formation-tracking-control-system-for-underwater-multiple-small-spherica