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Trajectory planning for autonomous underwater vehicles in the presence of obstacles and a nonlinear flow field using mixed integer nonlinear programming

Tong Wang, Ricardo M. Lima, Loïc Giraldi, Omar M. Knio. Trajectory planning for autonomous underwater vehicles in the presence of obstacles and a nonlinear flow field using mixed integer nonlinear programming. Computers & OR, 101:55-75, 2019. [doi]

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