Formation obstacle-avoidance control for multi-USVs based on improved artificial potential field method and model predictive control
SUN Hui, XUE Qing, PAN Mingyang, ZHANG Ruolan , HAO Jiangling
Journal of Dalian Maritime University . 2025, (2): 39 -48 .  DOI: 10.16411/j.cnki.issn1006-7736.2025.02.005

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