Igor Astrov and  Mikhail Pikkov and  Rein Paluoja,  Motion Control of an Autonomous Surface Vessel for Enhanced Situational Awareness.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    October 2013, vol. 83(11). 2259 - 2264
    [viewed 25 April 2024]. Available from: https://publications.waset.org/pdf/9996569.