# Formation control with collision avoidance for underactuated surface vehicles

> Research article (Asian Journal of Control, 2021) · cited 23× · AI/ML

**Wikidata**: [openalex:W3176668102](https://www.wikidata.org/wiki/openalex:W3176668102)  
**Source**: https://4ort.xyz/entity/formation-control-with-collision-avoidance-for-underactuated-surface-vehicles