1. A sociological interpretation of the COLREGS;Belcher;J. Navig.,2002
2. Investigation into End-On Collisions at Sea;Belhag,1988
3. Navigation of unmanned marine vehicles in accordance with the rules of the road;Benjamin,2006
4. Paving the way toward autonomous shipping development for European waters–the autoship project;Bolbot,2020
5. Determining the most immediate danger during a multi-vessel encounter;Brcko,2018