Formal verification of COLREG-Based Navigation of maritime autonomous systemsShokri-Manninen, Fatima; Vain, Jüri; Walden, MarinaSoftware Engineering and Formal Methods : 18th International Conference, SEFM 2020, Amsterdam, The Netherlands, September 14-18, 2020 : Proceedings2020 / p. 41-59 https://doi.org/10.1007/978-3-030-58768-0_3 Conference Proceedings at Scopus Article at Scopus Conference Proceedings at WOS Article at WOS