# Formation tracking of underactuated unmanned surface vehicles with connectivity maintenance and collision avoidance under velocity constraints

> Research article (Ocean Engineering, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4299348891](https://www.wikidata.org/wiki/openalex:W4299348891)  
**Source**: https://4ort.xyz/entity/formation-tracking-of-underactuated-unmanned-surface-vehicles-with-connectivity-maintenance-and-collision-avoidance-unde