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@inproceedings{kuwata2011, title = {Safe Maritime Navigation with COLREGS Using Velocity Obstacles}, booktitle = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems}, author = {Yoshiaki Kuwata and Michael T. Wolf and Dimitri Zarzhitsky and Terrance L. Huntsberger}, pages = {4728-4734}, month = {September}, year = {2011}}