A hierarchical cooperative encirclement strategy for heterogeneous unmanned surface vessels under kinodynamic constraints

作者：Shaobo Zhou, Jiankun Yang, Zhe Chen, Haibo Lu, Huiping Li, Weidong Zhang · 发表于：Ocean Engineering · 年份：2026 · DOI：10.1016/j.oceaneng.2026.127256 · 研究领域：Spacecraft Dynamics and Control、Distributed Control Multi-Agent Systems、Ship Hydrodynamics and Maneuverability