AIS data-driven MAAC-Stackelberg multi-ship cooperative collision avoidance algorithm

• Tie Xu ,

  Contributed equally to this work with: Tie Xu, Tengdong Wang, Jiansen Zhao, Qinyou Hu

  Roles Writing – original draft, Writing – review & editing

  * E-mail: tiexu@shmtu.edu.cn

  Affiliation Merchant Marine College, Shanghai Maritime University, Shanghai, China

  https://orcid.org/0000-0001-9237-9529

  ⨯
• Tengdong Wang ,

  Contributed equally to this work with: Tie Xu, Tengdong Wang, Jiansen Zhao, Qinyou Hu

  Roles Methodology

  Affiliation Merchant Marine College, Shanghai Maritime University, Shanghai, China

  ⨯
• Jiansen Zhao ,

  Contributed equally to this work with: Tie Xu, Tengdong Wang, Jiansen Zhao, Qinyou Hu

  Roles Investigation

  Affiliation Merchant Marine College, Shanghai Maritime University, Shanghai, China

  ⨯
• Qinyou Hu

  Contributed equally to this work with: Tie Xu, Tengdong Wang, Jiansen Zhao, Qinyou Hu

  Roles Software

  Affiliation Merchant Marine College, Shanghai Maritime University, Shanghai, China

  ⨯