# Formation Control for UAV-USVs Heterogeneous System with Collision Avoidance Performance

> Research article (Journal of Marine Science and Engineering, 2023) · cited 19× · AI/ML

**Wikidata**: [openalex:W4389549089](https://www.wikidata.org/wiki/openalex:W4389549089)  
**Source**: https://4ort.xyz/entity/formation-control-for-uav-usvs-heterogeneous-system-with-collision-avoidance-performance