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Hierarchical Vessel Safe Operation in a Port Through CBF, MPC and RRT-like Spatiotemporal Path Planning

Crossref DOI link: https://doi.org/10.1007/978-3-031-82681-8_16

Published Online: 2025-08-22

Published Print: 2025

Update policy: https://doi.org/10.1007/springer_crossmark_policy

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