@article{li2015hierarchical,
  title={Hierarchical control of marine vehicles for autonomous manoeuvring in offshore operations},
  author={Li, GY and Li, Wei and Halse, Karl Henning and Hildre, Hans Petter and Zhang, HX},
  journal={Ship Technology Research},
  volume={62},
  number={2},
  pages={72--80},
  year={2015},
  publisher={Taylor \& Francis}
}