@article{warmstartedsemionlinetrajectoryplanner,
  title = {Warm-started Semionline Trajectory Planner for Ship's Automatic Docking (Berthing)},
  author = {Dimas M. Rachman and Atsuo Maki and Yoshiki Miyauchi and Naoya Umeda},
  year = {2021},
  eprint = {2112.11626},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2112.11626v2},
}