# A framework to model the STPA hierarchical control structure of an autonomous ship

> Research article (Safety Science, 2020) · cited 132× · AI/ML

**Wikidata**: [openalex:W3081871549](https://www.wikidata.org/wiki/openalex:W3081871549)  
**Source**: https://4ort.xyz/entity/a-framework-to-model-the-stpa-hierarchical-control-structure-of-an-autonomous-ship