# Multi-USV cooperative path planning by window update based self-organizing map and spectral clustering

> Research article (Ocean Engineering, 2023) · cited 31× · AI/ML

**Wikidata**: [openalex:W4324058381](https://www.wikidata.org/wiki/openalex:W4324058381)  
**Source**: https://4ort.xyz/entity/multi-usv-cooperative-path-planning-by-window-update-based-self-organizing-map-and-spectral-clustering