@article{optimaltrajectoryplanningandmodel,
  title = {Optimal Trajectory Planning and Model Predictive Control of Underactuated Marine Surface Vessels using a Flatness-Based Approach},
  author = {Max Lutz and Thomas Meurer},
  year = {2021},
  eprint = {2101.12730},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2101.12730v1},
}