- Kuwata et al. 2014 (IEEE JOE) — shared with CEDAR, the avoidance layer.
- "The Branching-Course MPC Algorithm for Maritime Collision Avoidance" (2019),
  arXiv:1907.00039 — MPC branching for high-speed maneuver, relevant to the
  escort/shoulder behavior. read the cost-on-COLREGS-violation bit.