@inproceedings{ben17oceans,
title = {{Fast-CPA}: A Layered Caching Algorithm for Rapid Closest Point of Approach
Calculations in Marine Collision Avoidance},
booktitle = {OCEANS 2017 MTS/IEEE Anchorage},
author = {Michael R. Benjamin},
address = {Anchorage, AK},
month = {September},
year = {2017}}