@inproceedings{devries2022regulations,
  title={Regulations aware motion planning for autonomous surface vessels in urban canals},
  author={de Vries, Jitske and Trevisan, Elia and van der Toorn, Jules and Das, Tuhin and Brito, Bruno and Alonso-Mora, Javier},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)},
  pages={3291--3297},
  year={2022},
  organization={IEEE}
}