# The multi-AUV time-varying formation reconfiguration control based on rigid-graph theory and affine transformation

> Research article (Ocean Engineering, 2023) · cited 20× · AI/ML

**Wikidata**: [openalex:W4313569221](https://www.wikidata.org/wiki/openalex:W4313569221)  
**Source**: https://4ort.xyz/entity/the-multi-auv-time-varying-formation-reconfiguration-control-based-on-rigid-graph-theory-and-affine-transformation