# Multi-unmanned surface vehicle model-free sliding mode predictive adaptive formation control and obstacle avoidance in complex marine environment via model-free extended state observer

> Research article (Ocean Engineering, 2024) · cited 17× · AI/ML

**Wikidata**: [openalex:W4390937596](https://www.wikidata.org/wiki/openalex:W4390937596)  
**Source**: https://4ort.xyz/entity/multi-unmanned-surface-vehicle-model-free-sliding-mode-predictive-adaptive-formation-control-and-obstacle-avoidance-in-c