@article{li2019toward,
  title={Toward time-optimal trajectory planning for autonomous ship maneuvering in close-range encounters},
  author={Li, Guoyuan and Hildre, Hans Petter and Zhang, Houxiang},
  journal={IEEE Journal of Oceanic Engineering},
  volume={45},
  number={4},
  pages={1219--1234},
  year={2019},
  publisher={IEEE}
}