Acknowledgement
This research was supported by the Development of Autonomous Ship Technology project of the Ministry of Oceans and Fisheries (DOF, Korea) 'Development of Autonomous Navigation System with Intelligent Route Planning Function' (Project No.: 20200615), and the basic research project of the National Research Foundation of Korea, 'Experimental Study on the Development of Formation Control Algorithm for Multiple Unmanned Ships' (Project No.: 2020R1F1A1071610).
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