This paper investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. Additional constraints. such as collision avoidance. heterogeneous limited communication range and input saturation are also considered. https://www.lightemupsequences.com/hot-offer-Pablo-Olivera-Star-Wars-Foil-Variant-SET-special-save