Three-dimensional leader-follower formation control of multiple autonomous underwater vehicles based on line-of-sight measurements using the backstepping method. - Shikun Pang; Jian Wang; Jingyang Liu; Hong Yi (J. Syst. Control. Eng., 2018)

Joint Formation Control with Obstacle Avoidance of Towfish and Multiple Autonomous Underwater Vehicles Based on Graph Theory and the Null-Space-Based Method. - Shikun Pang; Ying-hui Li; Hong Yi (Sensors, 2019)