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杨荣武,许劲松,王鑫

Deliberative Trajectory Planning for Shipborne Autonomous Collision Avoidance System

YANG Rongwu,XU Jinsong,WANG Xin

上海交通大学学报 . 2019, (12): 1411 -1419 . DOI: 10.16183/j.cnki.jsjtu.2019.12.003