# Joint Formation Control with Obstacle Avoidance of Towfish and Multiple Autonomous Underwater Vehicles Based on Graph Theory and the Null-Space-Based Method

> Research article (Sensors, 2019) · cited 30× · AI/ML

**Wikidata**: [openalex:W2948873505](https://www.wikidata.org/wiki/openalex:W2948873505)  
**Source**: https://4ort.xyz/entity/joint-formation-control-with-obstacle-avoidance-of-towfish-and-multiple-autonomous-underwater-vehicles-based-on-graph-th