Hierarchical Motion Planning for MASSs: A COLREGs-Compliant Framework Integrating Offline Trajectory Optimization and Real-Time Coupled Course-Speed Decision Making. - Hongguang Lyu; Guifu Tan; Xiaoru Ma; Yanjie Zhao; Guoqing Zhang 004; Yong Yin; Zeyuan Shao; Xiaoyong Shang; Zaili Yang (IEEE Internet Things J., 2026)