Experimental test of a robust formation controller for marine unmanned surface vessels. - Daniel Schoerling; Chris Van Kleeck; Farbod Fahimi; Charles Robert Koch; Alfons Ams; Peter Löber (Auton. Robots, 2010)

Alternative trajectory-tracking control approach for marine surface vessels with experimental verification. - Farbod Fahimi; Chris Van Kleeck (Robotica, 2013)