AIP Conference Proceedings [Author(s) ICNPAA 2018 WORLD CONGRESS: 12th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences - Yerevan, Armenia (3–6 July 2018)] - Robust formation control of autonomous underwater vehicles with actuator saturations under discrete-time periodic communicationsUl’yanov, Sergey; Maksimkin, Nikolay; Bedenko, Ksenia · 2018