@inproceedings{meyer2020ifacShip,
  title={Continuous and discrete abstractions for planning, applied to ship docking},
  author={Meyer, Pierre-Jean and Yin, He and Brodtkorb, Astrid H and Arcak, Murat and S{\o}rensen, Asgeir J},
  booktitle={Proceedings of the $21^{st}$ IFAC World Congress},
  pages={1857--1862},
  year={2020},
}