# Safe cooperative path following with relative-angle-based collision avoidance for multiple underactuated autonomous surface vehicles

> Research article (Ocean Engineering, 2022) · cited 21× · AI/ML

**Wikidata**: [openalex:W4283767585](https://www.wikidata.org/wiki/openalex:W4283767585)  
**Source**: https://4ort.xyz/entity/safe-cooperative-path-following-with-relative-angle-based-collision-avoidance-for-multiple-underactuated-autonomous-surf