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Hansen, P. et al. (2020). COLREGs-based Situation Awareness for Marine Vessels - a Discrete Event Systems Approach⁎This research is sponsored by the The Danish Maritime Fund, Orients Fund and the Lauritzen Foundation through the ASAN project: Autonomous Situation Awareness for Navigation, and by the Autonomy part of the Shipping Lab project, which is sponsored by the Danish Innovation Fund and the aforementioned Foundations.. IFAC-PapersOnLine. 53 (2), pp. 14501-14508. [Online].