# Formation Control of Leader-Following Multi-UUVs With Uncertain Factors and Time-Varying Delays

> Research article (IEEE Access, 2019) · cited 25× · AI/ML

**Wikidata**: [openalex:W2967042487](https://www.wikidata.org/wiki/openalex:W2967042487)  
**Source**: https://4ort.xyz/entity/formation-control-of-leader-following-multi-uuvs-with-uncertain-factors-and-time-varying-delays