# Online planning for relative optimal and safe paths for USVs using a dual sampling domain reduction-based RRT* method

> Research article (International Journal of Machine Learning and Cybernetics, 2020) · cited 29× · AI/ML

**Wikidata**: [openalex:W3037587636](https://www.wikidata.org/wiki/openalex:W3037587636)  
**Source**: https://4ort.xyz/entity/online-planning-for-relative-optimal-and-safe-paths-for-usvs-using-a-dual-sampling-domain-reduction-based-rrt-method