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End-to-end automatic berthing of USVs in realistic port geometries via adaptive PPO-CBF

Weiqiang Liao; Yanghangcheng Ou; Huihui Li; Yao Chen; Yilong Wang; Wanneng Yu; Changkun Zhang; Jinglei Yang
Ocean Engineering · Vol. 353 · pp. 124705 · 2026
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Bibliographic Information

JournalOcean Engineering
PublisherPergamon
Publication Date2026-04-01
Publication Year2026
Volume353
Pages124705
Document TypeJournal Article
eISSN0029-8018
DOI10.1016/j.oceaneng.2026.124705
SubjectEnvironmental Science

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NARA Access Coverage1968-07-01~Current
Journal Homepagehttps://www.sciencedirect.com/science/journal/00298018
Publisher PageOpen Publisher Page
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