Autonomous guidance of ships on waterways. - Martin Sandler; Anja Wahl; Reinhard Zimmermann; M. Faul; U. Kabatek; Ernst Dieter Gilles (Robotics Auton. Syst., 1996)

Model predictive versus linear quadratic control for the tracking problem of automatic river navigation. - Anja Wahl; Ernst Dieter Gilles (ECC, 1999)