# EMPMR berthing scheme: A novel event-triggered motion planning and motion replanning scheme for unmanned surface vessels

> Research article (Ocean Engineering, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4386206629](https://www.wikidata.org/wiki/openalex:W4386206629)  
**Source**: https://4ort.xyz/entity/empmr-berthing-scheme-a-novel-event-triggered-motion-planning-and-motion-replanning-scheme-for-unmanned-surface-vessels