# Distributed TMPC formation trajectory tracking of multi-UUV with time-varying communication delay

> Research article (Ocean Engineering, 2024) · cited 11× · AI/ML

**Wikidata**: [openalex:W4392010972](https://www.wikidata.org/wiki/openalex:W4392010972)  
**Source**: https://4ort.xyz/entity/distributed-tmpc-formation-trajectory-tracking-of-multi-uuv-with-time-varying-communication-delay