Warm-started semionline trajectory planner for ship’s automatic docking (berthing)

Optimization on planning of trajectory and control of autonomous berthing and unberthing for the realistic port geometry

(2022) Yoshiki Miyauchi et al.   OCEAN ENGINEERING

Automatic berthing for an underactuated unmanned surface vehicle: A real-time motion planning approach

(2021) Sen Han et al.   OCEAN ENGINEERING

The review unmanned surface vehicle path planning: Based on multi-modality constraint

(2020) Chunhui Zhou et al.   OCEAN ENGINEERING

Application of optimal control theory based on the evolution strategy (CMA-ES) to automatic berthing (part: 2)

(2020) Atsuo Maki et al.   JOURNAL OF MARINE SCIENCE AND TECHNOLOGY

Layered berthing method and experiment of unmanned surface vehicle based on multiple constraints analysis

(2019) Yulei Liao et al.   APPLIED OCEAN RESEARCH

Application of optimal control theory based on the evolution strategy (CMA-ES) to automatic berthing

(2019) Atsuo Maki et al.   JOURNAL OF MARINE SCIENCE AND TECHNOLOGY

Berthing velocity of large seagoing vessels in the port of Rotterdam

(2017) Alfred Roubos et al.   MARINE STRUCTURES

Introduction of MMG standard method for ship maneuvering predictions

(2014) H. Yasukawa et al.   JOURNAL OF MARINE SCIENCE AND TECHNOLOGY