@article{HornauerBlaichHahnetal.2015,
  author    = {Sascha Hornauer and Michael Blaich and Axel Hahn and Johannes Reuter},
  title     = {Trajectory Planning with Negotiation for Maritime Collision Avoidance},
  journal   = {TransNav : International Journal on Marine Navigation and Safety of Sea Transportation},
  volume    = {9},
  number    = {3},
  pages     = {335 -- 341},
  doi       = {10.12716/1001.09.03.05},
  year        = {2015},
}