# Reinforcement learning-based close formation control for underactuated surface vehicle with prescribed performance and time-varying state constraints

> Research article (Ocean Engineering, 2022) · cited 24× · AI/ML

**Wikidata**: [openalex:W4281255370](https://www.wikidata.org/wiki/openalex:W4281255370)  
**Source**: https://4ort.xyz/entity/reinforcement-learning-based-close-formation-control-for-underactuated-surface-vehicle-with-prescribed-performance-and-t