Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments

Glenn Bitar, Andreas B. Martinsen, Anastasios M. Lekkas, Morten Breivik. Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments. IEEE Access, 8:199953-199969, 2020. [doi]

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