P.N. Hansen et al.. “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, vol. 53, no. 2, 2020, pp. 14501–14508. http://access.bl.uk/ark:/81055/vdc_100165742435.0x000045