# A multi-layered fast marching method for unmanned surface vehicle path planning in a time-variant maritime environment

> Research article (Ocean Engineering, 2016) · cited 147× · AI/ML

**Wikidata**: [openalex:W2557621405](https://www.wikidata.org/wiki/openalex:W2557621405)  
**Source**: https://4ort.xyz/entity/a-multi-layered-fast-marching-method-for-unmanned-surface-vehicle-path-planning-in-a-time-variant-maritime-environment