@misc{indiciae191de371b702,
  title = {Safe Maritime Navigation with COLREGS Using Velocity Obstacles},
  author = {Kuwata, Yoshiaki and Wolf, Michael T. and Zarzhitsky, Dimitri and Huntsberger, Terrance L.},
  year = {2011},
  url = {https://ntrs.nasa.gov/citations/20150006804},
  note = {Source identifier: 20150006804}
}