# Continuous and discrete abstractions for planning, applied to ship docking

> Research article (IFAC-PapersOnLine, 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W2990240808](https://www.wikidata.org/wiki/openalex:W2990240808)  
**Source**: https://4ort.xyz/entity/continuous-and-discrete-abstractions-for-planning-applied-to-ship-docking