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Streichenberg, L.M. (author), Trevisan, E. (author), Chung, Jen Jen (author), Siegwart, R. (author), Alonso-Mora, J. (author)Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we introduce a decentralized and communication-free interaction-aware motion planner and apply it to Autonomous Surface Vessels (ASVs) in urban canals. We build upon a...conference paper 2023