Hierarchical Vessel Safe Operation in A Port through CBF, MPC and RRT-like Spatiotemporal Path Planning
Published in Springer Nature, 2024
Recommended citation: Otsuki, Satoshi, Naoki Hatta, Muhammad Hanif, Riku Funada, Kenichi Nakashima, and Takeshi Hatanaka. (2024). "Hierarchical Vessel Safe Operation in a Port through CBF, MPC, and RRT-like Spatiotemporal Path Planning." Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities, E. Garone, I.V. Kolmanovsky, and T.W. Nguyen (eds). Springer Nature, to be published.