Hierarchical Vessel Autonomous Operation in a Port with Safety Certificates: Combined MPC and CBF Approach

Recommended citation: Otsuki, Satoshi, Naoki Hatta, Muhammad Hanif, Takeshi Hatanaka, and Kenichi Nakashima. (2023). "Hierarchical Vessel Autonomous Operation in a Port with Safety Certificates: Combined MPC and CBF Approach." In IFAC-PapersOnLine 56(2): 3138-3145.
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