# Formation control of discrete-time nonlinear multi-glider systems for both leader–follower and no-leader scenarios under switching topology: Cases for a fleet consisting of a wave glider and multiple underwater gliders

> Research article (Ocean Engineering, 2023) · cited 14× · AI/ML

**Wikidata**: [openalex:W4327905173](https://www.wikidata.org/wiki/openalex:W4327905173)  
**Source**: https://4ort.xyz/entity/formation-control-of-discrete-time-nonlinear-multi-glider-systems-for-both-leaderfollower-and-no-leader-scenarios-under-