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Springer Tracts in Advanced Robotics
Autonomous surface craft (ASC) are increasingly attractive as a means for performing harbor operations, including monitoring and inspection. However, due to the presence of many fixed and moving structures such as pilings, moorings, and vessels, harbor environments are extremely dynamic and cluttered. In order to move autonomously in such conditions, ASC's must be capable of detecting stationary and moving objects and plan their paths accordingly. We propose a simple and scalable onlinedoi:10.1007/978-3-642-13408-1_41 fatcat:em7j5tcqjnfydlhdseeqhbuaqe