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

> Research article (Journal of Marine Science and Technology, 2019) · cited 88× · AI/ML

**Wikidata**: [openalex:W4246518174](https://www.wikidata.org/wiki/openalex:W4246518174)  
**Source**: https://4ort.xyz/entity/application-of-optimal-control-theory-based-on-the-evolution-strategy-cma-es-to-automatic-berthing