1. Fast grid based collision avoidance for vessels using a* search algorithm;Michael Blaich;2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR),2012
2. Milp and nlp techniques for centralized trajectory planning of multiple unmanned air vehicles;Francesco Borrelli;American Control Conference,2006
3. Optimized-weighted-speedy q-learning algorithm for multi-ugv in static environment path planning under anti-collision cooperation mechanism;Yuanying Cao;Mathematics,2023
4. A three-layered architecture for real time path planning and obstacle avoidance for surveillance usvs operating in harbour fields;Giuseppe Casalino;Oceans 2009-Europe,2009