# Global finite-time guidance algorithm and constrained formation control using novel nonlinear mapping function for underactuated multiple unmanned surface vehicles

> Research article (Ocean Engineering, 2024) · cited 12× · AI/ML

**Wikidata**: [openalex:W4390959418](https://www.wikidata.org/wiki/openalex:W4390959418)  
**Source**: https://4ort.xyz/entity/global-finite-time-guidance-algorithm-and-constrained-formation-control-using-novel-nonlinear-mapping-function-for-under