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Autonomous navigation in ice-covered waters poses significant challenges due to the frequent lack of viable collision-free trajectories. When complete obstacle avoidance is infeasible, it becomes imperative for the navigation strategy to…
This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced due to cooperation, and (ii) the increased accuracy of risk…
Accurate vessel trajectory prediction is essential for enhancing situational awareness and preventing collisions. Still, existing data-driven models are constrained mainly to single-vessel forecasting, overlooking vessel interactions,…
Understanding how environmental and operational conditions influence vessel speed is crucial for characterizing navigational conditions in the Arctic. We analyzed Automatic Identification System (AIS) data from 2010-2019 to examine vessel…
This paper presents a three-layered hybrid collision avoidance (COLAV) system for autonomous surface vehicles, compliant with rules 8 and 13-17 of the International Regulations for Preventing Collisions at Sea (COLREGs). The COLAV system…
Cyber-resilience is an increasing concern in developing autonomous navigation solutions for marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation through a prism with three edges: multiple sensor…
We present CoMet, a novel approach for computing a group's cohesion and using that to improve a robot's navigation in crowded scenes. Our approach uses a novel cohesion-metric that builds on prior work in social psychology. We compute this…
Automatic Identification System (AIS) data represents a rich source of information about maritime traffic and offers a great potential for data analytics and predictive modeling solutions, which can help optimizing logistic chains and to…
The maritime industry's continuous commitment to sustainability has led to a dedicated exploration of methods to reduce vessel fuel consumption. This paper undertakes this challenge through a machine learning approach, leveraging a…
Maritime Autonomous Surface Ships (MASS) have emerged as a promising solution to enhance navigational safety, operational efficiency, and long-term cost effectiveness. However, their reliable deployment requires rigorous verification and…
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…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
Maritime domain awareness is critical for protecting sea lanes, ports, harbors, offshore structures and critical infrastructures against common threats and illegal activities. Limited surveillance resources constrain maritime domain…
The worldwide growth of maritime traffic and the development of the Automatic Identification System (AIS) has led to advances in monitoring systems for preventing vessel accidents and detecting illegal activities. In this work, we describe…
Cooperative localization is a promising solution to improve the accuracy and overcome the shortcomings of GNSS. Cooperation is often achieved by measuring the distance between users. To optimally integrate a distance measurement between two…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface…
This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…
To enhance the safety of Maritime Autonomous Surface Ships (MASS) navigating in restricted waters, this paper aims to develop a geometric analysis-based route safety assessment (GARSA) framework, specifically designed for their route…
The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle.…