Related papers: Intelligent Sailing Model for Open Sea Navigation
The Intelligent Driver Model (IDM) is a cornerstone of Adaptive Cruise Control (ACC), valued for its interpretable parameters and effectiveness in car-following behavior modeling. However, its inherent conservatism leads to prolonged…
The Automatic Identification System (AIS) provides time stamped vessel positions and kinematic reports that enable maritime authorities to monitor traffic. We consider the problem of relabeling AIS trajectories when vessel identifiers are…
The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…
We present Interactive Gibson Benchmark, the first comprehensive benchmark for training and evaluating Interactive Navigation: robot navigation strategies where physical interaction with objects is allowed and even encouraged to accomplish…
Obstacle detection is a fundamental capability of an autonomous maritime surface vessel (AMSV). State-of-the-art obstacle detection algorithms are based on convolutional neural networks (CNNs). While CNNs provide higher detection accuracy…
We propose VLM-Social-Nav, a novel Vision-Language Model (VLM) based navigation approach to compute a robot's motion in human-centered environments. Our goal is to make real-time decisions on robot actions that are socially compliant with…
While Visual Large Language Models (VLLMs) show great promise as embodied agents, they continue to face substantial challenges in spatial reasoning. Existing embodied benchmarks largely focus on passive, static household environments and…
Achieving fully autonomous driving systems requires learning rational decisions in a wide span of scenarios, including safety-critical and out-of-distribution ones. However, such cases are underrepresented in real-world corpus collected by…
In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…
In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…
This article faces the problem of operative and procedural cooperative training in marine ports with particular attention to harbour pilots and port traffic controller. The design and development of an advanced system, equipped with…
Recent work has explored the problem of autonomous navigation by imitating a teacher and learning an end-to-end policy, which directly predicts controls from raw images. However, these approaches tend to be sensitive to mistakes by the…
The development process of high-fidelity SLAM systems depends on their validation upon reliable datasets. Towards this goal, we propose IBISCape, a simulated benchmark that includes data synchronization and acquisition APIs for telemetry…
An enabling technology for future sea transports is safe and energy-efficient autonomous maritime navigation in narrow environments with other marine vessels present. This requires that the algorithm controlling the ship is able to account…
Socially compliant navigation requires robots to move safely and appropriately in human-centered environments by respecting social norms. However, social norms are often ambiguous, and in a single scenario, multiple actions may be equally…
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…
Mobile robots are increasingly deployed in unstructured environments where obstacles and objects are movable. Navigation in such environments is known as interactive navigation, where task completion requires not only avoiding obstacles but…
The recent adoption of artificial intelligence in robotics has driven the development of algorithms that enable autonomous systems to adapt to complex social environments. In particular, safe and efficient social navigation is a key…
The increasing demand for emerging mobility systems with connected and automated vehicles has imposed the necessity for quality testing environments to support their development. In this paper, we introduce a Unity-based virtual simulation…
This paper presents a novel method to quantify seafarers' good seamanship during navigation scenarios with multi-vessel encounters -- in open and confined waters --, and to compute COLREG's-compliant trajectories for avoiding collision and…