Eco-VTF: Fuel-Efficient Vessel Train Formations for All-Electric Autonomous Ships. - Linying Chen; Ali Haseltalab; Vittorio Garofano; Rudy R. Negenborn (ECC, 2019)

Distributed Leader-Follower Formation Control for Autonomous Vessels based on Model Predictive Control*. - M. J. van Pampus; Ali Haseltalab; Vittorio Garofano; Vasso Reppa; Y. H. Deinema; Rudy R. Negenborn (ECC, 2021)