# Application of optimal control theory based on the evolution strategy (CMA-ES) to automatic berthing (part: 2)

> Research article (Journal of Marine Science and Technology, 2020) · cited 34× · AI/ML

**Wikidata**: [openalex:W2943437903](https://www.wikidata.org/wiki/openalex:W2943437903)  
**Source**: https://4ort.xyz/entity/application-of-optimal-control-theory-based-on-the-evolution-strategy-cma-es-to-automatic-berthing-part-2