# Formation trajectory tracking control of discrete-time multi-AUV in a weak communication environment

> Research article (Ocean Engineering, 2022) · cited 56× · AI/ML

**Wikidata**: [openalex:W4206096884](https://www.wikidata.org/wiki/openalex:W4206096884)  
**Source**: https://4ort.xyz/entity/formation-trajectory-tracking-control-of-discrete-time-multi-auv-in-a-weak-communication-environment