# Soft formation control for unmanned surface vehicles under environmental disturbance using multi-task reinforcement learning

> Research article (Ocean Engineering, 2022) · cited 31× · AI/ML

**Wikidata**: [openalex:W4289874348](https://www.wikidata.org/wiki/openalex:W4289874348)  
**Source**: https://4ort.xyz/entity/soft-formation-control-for-unmanned-surface-vehicles-under-environmental-disturbance-using-multi-task-reinforcement-lear