# Extended-state-observer-based distributed model predictive formation control of under-actuated unmanned surface vehicles with collision avoidance

> Research article (Ocean Engineering, 2021) · cited 86× · AI/ML

**Wikidata**: [openalex:W3193458730](https://www.wikidata.org/wiki/openalex:W3193458730)  
**Source**: https://4ort.xyz/entity/extended-state-observer-based-distributed-model-predictive-formation-control-of-under-actuated-unmanned-surface-vehicles