NASA NTRS · 20150006080
Safe Maritime Navigation with COLREGS Using Velocity Obstacles
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Kuwata, Yoshiaki, Wolf, Michael, Zarzhitsky, Dimitri, Huntsberger, Terrance L.. 2011-09-29. Safe Maritime Navigation with COLREGS Using Velocity Obstacles. https://ntrs.nasa.gov/citations/20150006080
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