@book{CTT100941892,
  author = {S. Otsuki and N. Hatta and M. Hanif and R. Funada and K. Nakashima and T. Hatanaka},
  title = {Hierarchical Vessel Safe Operation in A Port through CBF, MPC and RRT-like Spatiotemporal Path Planning},
  publisher = {Springer},
  year = 2025,
}

@inproceedings{CTT100909926,
  author = {S. Otsuki and N. Hatta and M. Hanif and T. Hatanaka and K. Nakashima},
  title = {Hierarchical Vessel Autonomous Operation in A Port with Safety Certificates: Combined MPC and CBF Approach},
  booktitle = {Proc. 22nd IFAC World Congress},
  year = 2023,
}

@inproceedings{CTT100893010,
  author = {八田 直樹 and 大月 智史 and 畑中 健志 and 中島 健一},
  title = {予測制御と制御バリア関数に基づく港湾環境下での船舶自律誘導制御},
  booktitle = {第10回計測自動制御学会制御部門マルチシンポジウム 予稿集},
  year = 2023,
}