Enhancing maritime autonomous surface ship navigation safety: A dynamic risk assessment framework integrating system theoretic process analysis and stochastic Petri nets

• Chun ZOUWuhan University of Technology
• LONG CHENWuhan University of Technology
• Hanwen FanLiverpool John Moores University
• Xiaobin TianWuhan University of Technology
• Li Liu
• Zaili YangLiverpool John Moores University