Robust Formation Control and Obstacle Avoidance for Heterogeneous Underactuated Surface Vessel Networks

Bo Wang, Sergey G. Nersesov, Hashem Ashrafiuon. Robust Formation Control and Obstacle Avoidance for Heterogeneous Underactuated Surface Vessel Networks. IEEE Trans. Control of Network Systems, 9(1):125-137, 2022. [doi]

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