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- Miao, T.; El Amam, E.; Slaets, P.; Pissoort, D. (2022). An improved real-time collision-avoidance algorithm based on Hybrid A* in a multi-object-encountering scenario for autonomous surface vessels. Ocean Eng. 255: 111406. https://dx.doi.org/10.1016/j.oceaneng.2022.111406, meer
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