# Predefined-time formation control of NASVs with fully discontinuous communication: A novel hierarchical event-triggered scheme

> Research article (Ocean Engineering, 2022) · cited 20× · AI/ML

**Wikidata**: [openalex:W4313214771](https://www.wikidata.org/wiki/openalex:W4313214771)  
**Source**: https://4ort.xyz/entity/predefined-time-formation-control-of-nasvs-with-fully-discontinuous-communication-a-novel-hierarchical-event-triggered-s