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Ship collision avoidance route planning using CRI-based A∗ ..:

Seo, Chanhee ; Noh, Yoojeong ; Abebe, Misganaw...
International Journal of Naval Architecture and Ocean Engineering.  15 (2023)  - p. 100551 , 2023
Link: https://doi.org/10.1016/j.ijnaoe.2023.100551