@phdthesis{Blaich2017,
  author    = {Blaich, Michael},
  title     = {Path planning and collision avoidance for safe autonomous vessel navigation in dynamic environments},
  isbn      = {978-3-8440-5304-3},
  institution = {Fakult{\"a}t Elektrotechnik und Informationstechnik},
  pages     = {VI, 170},
  year      = {2017},
  language  = {en}
}