AIS data-driven MAAC-Stackelberg multi-ship cooperative collision avoidance algorithm.

PLoS One · 2026 · PMC13232843 · PMID 42234682

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extremely significantno p-value reported

The test results revealed that the t-statistic for CR was 6.87 with a p-value of less than 0.01, and the t-statistic for CCR reached 7.32 with a p-value also below 0.01, both achieving a level of extremely significant statistical difference. 4.5.

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