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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a distributed control scheme for autonomous tugboats to tow a ship in a restricted water traffic environment ensuring collision avoidance while being compliant with maritime regulation called COLREGS. The complex problem is cooperatively solved by addressing three sub-optimization problems. The first is to optimize the...journal article 2022