# Clustering Theta* based segmented path planning method for vessels in inland waterways

> Research article (Ocean Engineering, 2024) · cited 18× · AI/ML

**Wikidata**: [openalex:W4399456948](https://www.wikidata.org/wiki/openalex:W4399456948)  
**Source**: https://4ort.xyz/entity/clustering-theta-based-segmented-path-planning-method-for-vessels-in-inland-waterways