@ARTICLE{li2019toward,
author={G. {Li} and H. P. {Hildre} and H. {Zhang}},
journal={IEEE Journal of Oceanic Engineering},
title={Toward Time-Optimal Trajectory Planning for Autonomous Ship Maneuvering in Close-Range Encounters},
year={2019},
volume={},
number={},
pages={1-16},
keywords={Bézier curve;collision avoidance;sea current;ship intelligence;trajectory planning;wavefront search},
doi={10.1109/JOE.2019.2926822},
ISSN={2373-7786},
month={},}