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APA Citation
Singh, Y., Sharma, S., Sutton, R., Hatton, D., & Khan, A. (2018). a constrained A* approach towards optimal path planning for an unmanned surface vehicle in a maritime environment containing dynamic obstacles and ocean currents. Ocean engineering, 169, 187–201. http://access.bl.uk/ark:/81055/vdc_100070089764.0x00005a