# A Two Layered Optimal Approach towards Cooperative Motion Planning of Unmanned Surface Vehicles in a Constrained Maritime Environment

> Research article (IFAC-PapersOnLine, 2018) · cited 32× · AI/ML

**Wikidata**: [openalex:W2897364024](https://www.wikidata.org/wiki/openalex:W2897364024)  
**Source**: https://4ort.xyz/entity/a-two-layered-optimal-approach-towards-cooperative-motion-planning-of-unmanned-surface-vehicles-in-a-constrained-maritim