# Two-layer virtual leader-following: An adaptive cooperative path following control for crowded UUV swarm subjected to constraints

> Research article (Ocean Engineering, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4281766083](https://www.wikidata.org/wiki/openalex:W4281766083)  
**Source**: https://4ort.xyz/entity/two-layer-virtual-leader-following-an-adaptive-cooperative-path-following-control-for-crowded-uuv-swarm-subjected-to-con