# Distributed formation control of underactuated UMVs based on nonlinear model prediction algorithm with obstacle avoidance strategy incorporating relative velocity constraints

> Research article (Ocean Engineering, 2024) · cited 12× · AI/ML

**Wikidata**: [openalex:W4402701670](https://www.wikidata.org/wiki/openalex:W4402701670)  
**Source**: https://4ort.xyz/entity/distributed-formation-control-of-underactuated-umvs-based-on-nonlinear-model-prediction-algorithm-with-obstacle-avoidanc