# Discrete-time formation control of multiple heterogeneous underwater gliders

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

**Wikidata**: [openalex:W4283767018](https://www.wikidata.org/wiki/openalex:W4283767018)  
**Source**: https://4ort.xyz/entity/discrete-time-formation-control-of-multiple-heterogeneous-underwater-gliders