@article{fossen2002marine,
title={Marine control systems--guidance. navigation, and control of ships, rigs and underwater vehicles},
author={Fossen, Thor I},
journal={Marine Cybernetics, Trondheim, Norway, Org. Number NO 985 195 005 MVA, www. marinecybernetics. com, ISBN: 82 92356 00 2},
year={2002}
}

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