1. Handbook of Marine Craft Hydrodynamics and Motion Control;Fossen,2021
2. A Master’s Guide to Berthing;Rees,2021
3. J.M. Esposito, M. Feemster, E. Smith, Cooperative manipulation on the water using a swarm of autonomous tugboats, in: Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008.
4. A ship berthing system design with four tugboats;Bui;J. Mech. Sci. Technol.,2011
5. V.P. Bui, S.W. Ji, K.H. Choi, Y.B. Kim, Nonlinear observer and sliding mode control design for dynamic positioning of a surface vessel, in: Proceedings of the International Conference on Control, Automation and Systems, Jeju Island, Korea, 2012.