Related papers: Intelligent Sailing Model for Open Sea Navigation
With the increase in maritime traffic and the mandatory implementation of the Automatic Identification System (AIS), the importance and diversity of maritime traffic analysis tasks based on AIS data, such as vessel trajectory prediction,…
Many car-following models like the Intelligent Driver Model (IDM) incorporate important aspects of safety in their definitions, such as collision-free driving and keeping safe distances, implying that drivers are safety conscious when…
This paper explores the state of the art on to methods to verify and validate navigation algorithms for autonomous surface ships. We perform a systematic mapping study to find research works published in the last 10 years proposing new…
Interactive traffic simulation is crucial to autonomous driving systems by enabling testing for planners in a more scalable and safe way compared to real-world road testing. Existing approaches learn an agent model from large-scale driving…
We consider a new control strategy for marine navigation, equipped with finite-time convergence characteristics. We provide mathematical guarantees for waypoint reaching and obstacle avoidance for different encounter scenarios, by deriving…
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…
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…
Maritime intelligent transportation systems (MITS) are essential for ensuring navigation safety and efficiency in busy waterways. However, accurate vessel trajectory prediction remains challenging due to the limitations of single-source…
Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper…
Microscopic traffic simulations are used to evaluate the impact of infrastructure modifications and evolving vehicle technologies, such as connected and automated driving. Simulated vehicles are controlled via car-following, lane-changing…
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…
Autonomous navigation in unfamiliar environments requires robots to simultaneously explore, localise, and plan under uncertainty, without relying on predefined maps or extensive training. We present Active Inference MAPping and Planning…
The oceans are a source of an impressive mixture of complex data that could be used to uncover relationships yet to be discovered. Such data comes from the oceans and their surface, such as Automatic Identification System (AIS) messages…
Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
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…
Ships, or vessels, often sail in and out of cluttered environments over the course of their trajectories. Safe navigation in such cluttered scenarios requires an accurate estimation of the intent of neighboring vessels and their effect on…
Autonomous surface vessels (ASVs) play an increasingly important role in the safety and sustainability of open sea operations. Since most maritime accidents are related to human failure, intelligent algorithms for autonomous collision…
Fully or partial autonomous marine vessels are actively being developed by many industry actors. In many cases, the autonomous vessels will be operating close to shore, and within range of a Remote Control Center (RCC). Close to shore…