# Automatic berthing for an underactuated unmanned surface vehicle: A real-time motion planning approach

> Research article (Ocean Engineering, 2021) · cited 69× · AI/ML

**Wikidata**: [openalex:W3176740057](https://www.wikidata.org/wiki/openalex:W3176740057)  
**Source**: https://4ort.xyz/entity/automatic-berthing-for-an-underactuated-unmanned-surface-vehicle-a-real-time-motion-planning-approach