# Distributed adaptive fixed-time formation control for UAV-USV heterogeneous multi-agent systems

> Research article (Ocean Engineering, 2022) · cited 110× · AI/ML

**Wikidata**: [openalex:W4311261996](https://www.wikidata.org/wiki/openalex:W4311261996)  
**Source**: https://4ort.xyz/entity/distributed-adaptive-fixed-time-formation-control-for-uav-usv-heterogeneous-multi-agent-systems