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Autonomous systems are becoming ubiquitous and gaining momentum within the marine sector. Since the electrification of transport is happening simultaneously, autonomous marine vessels can reduce environmental impact, lower costs, and…

Path Following and Collision Avoidance, be it for unmanned surface vessels or other autonomous vehicles, are two fundamental guidance problems in robotics. For many decades, they have been subject to academic study, leading to a vast number…

With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in the near future. However, it is still challenging for ASVs…

Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…

Sustainability is becoming increasingly critical in the maritime transport, encompassing both environmental and social impacts, such as Greenhouse Gas (GHG) emissions and navigational safety. Traditional vessel navigation heavily relies on…

Collision avoidance is a crucial task in vision-guided autonomous navigation. Solutions based on deep reinforcement learning (DRL) has become increasingly popular. In this work, we proposed several novel agent state and reward function…

Autonomous vessels have emerged as a prominent and accepted solution, particularly in the naval defence sector. However, achieving full autonomy for marine vessels demands the development of robust and reliable control and guidance systems…

In this paper, we look at the role of autonomous navigation in the maritime domain. Specifically, we examine how an Autonomous Surface Vessel(ASV) can achieve obstacle avoidance based on the Convention on the International Regulations for…

This work focuses on the main challenges and problems in developing a virtual oceanic environment reproducing real experiments using Unmanned Surface Vehicles (USV) digital twins. We introduce the key features for building virtual worlds,…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…

Autonomous navigation of Unmanned Surface Vehicles (USVs) that is safe and compliant with the International Regulations for Preventing Collisions at Sea (COLREGs) remains a formidable challenge in dynamic maritime environments, particularly…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

Human decision-making errors cause a majority of globally reported marine accidents. As a result, automation in the marine industry has been gaining more attention in recent years. Obstacle avoidance becomes very challenging for an…

Maritime Autonomous Surface Ships (MASS) are increasingly regarded as a promising solution to address crew shortages, improve navigational safety, and improve operational efficiency in the maritime industry. Nevertheless, the reliable…

Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…

This paper presents the design, development, and experimental validation of MARVEL, an autonomous unmanned surface vehicle built for real-world testing of sensor fusion-based navigation algorithms in GNSS-denied environments. MARVEL was…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

This paper enhances the obstacle avoidance of Autonomous Surface Vehicles (ASVs) for safe navigation in high-traffic waters with an active state estimation of obstacle's passing intention and reducing its uncertainty. We introduce a…

Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. However, bridging the "sim-to-real" gap and…

Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…