# Ship Collaborative Path Planning Method Based on CS-STHA

> Research article (Journal of Marine Science and Engineering, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4306385367](https://www.wikidata.org/wiki/openalex:W4306385367)  
**Source**: https://4ort.xyz/entity/ship-collaborative-path-planning-method-based-on-cs-stha