# NMPC-based Trajectory Tracking and Collison Avoidance of Underactuated Vessels with Elliptical Ship Domain**This research is supported by the State of Lower Saxony as part of the project Critical Systems Engineering for Socio-Technical Systems (CSE).

> Research article (IFAC-PapersOnLine, 2016) · cited 20× · AI/ML

**Wikidata**: [openalex:W2548479447](https://www.wikidata.org/wiki/openalex:W2548479447)  
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