# Distributed finite-time bearing-based formation control for underactuated surface vessels with Levant differentiator

> Research article (ISA Transactions, 2024) · cited 65× · AI/ML

**Wikidata**: [openalex:W4392162371](https://www.wikidata.org/wiki/openalex:W4392162371)  
**Source**: https://4ort.xyz/entity/distributed-finite-time-bearing-based-formation-control-for-underactuated-surface-vessels-with-levant-differentiator