# Autonomous docking trajectory optimization for unmanned surface vehicle: A hierarchical method

> Research article (Ocean Engineering, 2023) · cited 50× · AI/ML

**Wikidata**: [openalex:W4366609752](https://www.wikidata.org/wiki/openalex:W4366609752)  
**Source**: https://4ort.xyz/entity/autonomous-docking-trajectory-optimization-for-unmanned-surface-vehicle-a-hierarchical-method