# Distributed formation control with obstacle avoidance for multiple underactuated unmanned surface vehicles

> Research article (Journal of the Franklin Institute, 2024) · cited 10× · AI/ML

**Wikidata**: [openalex:W4399772364](https://www.wikidata.org/wiki/openalex:W4399772364)  
**Source**: https://4ort.xyz/entity/distributed-formation-control-with-obstacle-avoidance-for-multiple-underactuated-unmanned-surface-vehicles