“…They are based on ship route planning algorithms. Examples are evolutionary theory-based methods (e.g., Wibisono et al, 2017;Szlapczynska et al, 2019); A* algorithms (e.g., ; Ant Colony algorithms (e.g., Mohan et al, 2012;Liang et al, 2020) and Fast Marching algorithms (e.g., Yan et al, 2020;Chen et al, 2020). Lately, Gil (2021) and Montewka et al (2022) presented the CADCA approach to determine the safe manoeuvring distance to shallow waters for ship grounding avoidance.…”