Previous studies from the coastal cargo sector report of a considerable gap between formal and informal aspects of safety. Several maritime accident investigations point to this gap as an important contributory cause. indicating that risk increases when informal practices ignore or violate formal procedures. The main aims of this paper are therefore to examine the factors influencing ... https://bzzoxcydcla2eg.theisblog.com/35130450/on-road-trajectory-planning-of-connected-and-automated-vehicles-in-complex-traffic-settings-a-hierarchical-framework-of-trajectory-refinement