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The paper presents a path planning algorithm based on RRT* that addresses the risk of grounding during evasive manoeuvres to avoid collision. The planner achieves this objective by integrating a collective navigation experience with the…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
This article considers collision avoidance (COLAV) for both static and moving obstacles using the branching-course model predictive control (BC-MPC) algorithm, which is designed for use by autonomous surface vehicles (ASVs). The BC-MPC…
Heading towards navigational autonomy in unmanned surface vehicles (USVs) in the maritime sector can fundamentally lead towards safer waters as well as reduced operating costs, while also providing a range of exciting new capabilities for…
For an autonomous surface vessel (ASV) to dock, it must track other vessels close to the docking area. Kayaks present a particular challenge due to their proximity to the dock and relatively small size. Maritime target tracking has…
We present a runtime efficient algorithm for autonomous helicopter landings on moving ship decks based on Shrinking-Horizon Model Predictive Control (SHMPC). First, a suitable planning model capturing the relevant aspects of the full…
Despite the success of electric vehicles on land, electrification of maritime ships is challenged by the dilemma of range anxiety and cargo-carrying capacity. The longer range requires larger batteries, which inevitably eat up the precious…
The space environment around the Earth is becoming increasingly populated by both active spacecraft and space debris. To avoid potential collision events, significant improvements in Space Situational Awareness (SSA) activities and…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…
Competent multi-lane cruising requires using lane changes and within-lane maneuvers to achieve good speed and maintain safety. This paper proposes a design for autonomous multi-lane cruising by combining a hierarchical reinforcement…
Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…
Autonomous bicycles have recently been proposed as a new and more efficient approach to bicycle-sharing systems (BSS), but the corresponding environmental implications remain unresearched. Conducting environmental impact assessments at an…
Collision avoidance capability is an essential component in an autonomous vessel navigation system. To this end, an accurate prediction of dynamic obstacle trajectories is vital. Traditional approaches to trajectory prediction face…
This paper presents a concept for a control System for an autonomous underwater vehicle under ice using a "SLOCUM" underwater glider. The project concept, the separate working tasks for the next one-and-a-half years and the first results…
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…
We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the…
We present an optimal hybrid control approach to the problem of stochastic route planning for sailing boats, especially in short course fleet races, in which minimum average time is an effective performance index. We show that the hybrid…
Collision avoidance in heterogeneous fleets of uncrewed vessels is challenging because the decision-making processes and controllers often differ between platforms, and it is further complicated by the limitations on sharing trajectories…
We present a general decentralized formulation for a large class of collision avoidance methods and show that all collision avoidance methods of this form are guaranteed to be collision free. This class includes several existing algorithms…