# The fault-tolerant consensus strategy for leaderless Multi-AUV system on heterogeneous condensation topology

> Research article (Ocean Engineering, 2022) · cited 22× · AI/ML

**Wikidata**: [openalex:W4205870740](https://www.wikidata.org/wiki/openalex:W4205870740)  
**Source**: https://4ort.xyz/entity/the-fault-tolerant-consensus-strategy-for-leaderless-multi-auv-system-on-heterogeneous-condensation-topology