Optimal control of a ship for course change and sidestep maneuvers (Q1962465)

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Optimal control of a ship for course change and sidestep maneuvers
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    Optimal control of a ship for course change and sidestep maneuvers (English)
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    7 November 2000
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    optimal ship maneuvers
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    singularity avoiding transformation
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    Mayer problems
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    optimal control
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    sequential gradient-restoration algorithm
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