Michael R. Benjamin, John J. Leonard, Joseph A. Curcio, Paul M. Newman. A method for protocol-based collision avoidance between autonomous marine surface craft. J. Field Robotics, 23(5):333-346, 2006. [doi]
@article{BenjaminLCN06,
title = {A method for protocol-based collision avoidance between autonomous marine surface craft},
author = {Michael R. Benjamin and John J. Leonard and Joseph A. Curcio and Paul M. Newman},
year = {2006},
doi = {10.1002/rob.20121},
url = {http://dx.doi.org/10.1002/rob.20121},
tags = {rule-based, protocol},
researchr = {https://researchr.org/publication/BenjaminLCN06},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {23},
number = {5},
pages = {333-346},
}