# Warm-started semionline trajectory planner for ship’s automatic docking (berthing)

> Research article (Ocean Engineering, 2022) · cited 29× · AI/ML

**Wikidata**: [openalex:W4220944534](https://www.wikidata.org/wiki/openalex:W4220944534)  
**Source**: https://4ort.xyz/entity/warm-started-semionline-trajectory-planner-for-ships-automatic-docking-berthing