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Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…
We present a system for online monitoring of maritime activity over streaming positions from numerous vessels sailing at sea. It employs an online tracking module for detecting important changes in the evolving trajectory of each vessel…
Detecting and evaluating surface coating defects is important for marine vessel maintenance. Currently, the assessment is carried out manually by qualified inspectors using international standards and their own experience. Automating the…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
Vessel trajectory clustering, a crucial component of the maritime intelligent transportation systems, provides valuable insights for applications such as anomaly detection and trajectory prediction. This paper presents a comprehensive…
Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
Vessels navigating in confined waters are subject to banking effects, which are hydrodynamic forces and moments arising from pressure differentials between the vessel sides, significantly affecting manoeuvrability and safety. Existing…
This paper extends the family of gap-based local planners to unknown dynamic environments through generating provable collision-free properties for hierarchical navigation systems. Existing perception-informed local planners that operate in…
Statistical interpolation of chemical concentrations at new locations is an important step in assessing a worker's exposure level. When measurements are available from coastlines, as is the case in coastal clean-up operations in oil spills,…
Marine vessel re-identification technology is an important component of intelligent shipping systems and an important part of the visual perception tasks required for marine surveillance. However, unlike the situation on land, the maritime…
Goal-oriented navigation presents a fundamental challenge for autonomous systems, requiring agents to navigate complex environments to reach designated targets. This survey offers a comprehensive analysis of multimodal navigation approaches…
Digital testing has emerged as a key paradigm for the development and verification of autonomous maritime navigation systems, yet the availability of realistic and diverse safety-critical encounter scenarios remains limited. Existing…
Repeated exploration of a water surface to detect objects of interest and their subsequent monitoring is important in search-and-rescue or ocean clean-up operations. Since the location of any detected object is dynamic, we propose to…
The DEBS Grand Challenge 2018 is set in the context of maritime route prediction. Vessel routes are modeled as streams of Automatic Identification System (AIS) data points selected from real-world tracking data. The challenge requires to…
As Arctic conditions rapidly change, human activity in the Arctic will continue to increase and so will the need for high-resolution observations of sea ice. While satellite imagery can provide high spatial resolution, it is temporally…
Vessel navigation is influenced by various factors, such as dynamic environmental factors that change over time or static features such as vessel type or depth of the ocean. These dynamic and static navigational factors impose limitations…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
This paper addresses the challenge of boosting the precision of multi-path long-term vessel trajectory forecasting on engineered sequences of Automatic Identification System (AIS) data using feature fusion for problem shifting. We have…