Global kappa-exponential way-point maneuvering of ships: Theory and experiments

@article{Fredriksen2006GlobalKW,
  title={Global kappa-exponential way-point maneuvering of ships: Theory and experiments},
  author={E. Fredriksen and Kristin Ytterstad Pettersen},
  journal={Automatica},
  year={2006},
  volume={42},
  pages={677-687}
}
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