相关论文: Operative and Procedural Cooperative Training in M…

Here, we present the concept of an open virtual prototyping framework for maritime systems and operations that enables its users to develop re-usable component or subsystem models, and combine them in full-system simulations for…

The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…

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.…

A few studies in the maritime domain utilize co-design in ship design workshops, however, none of them addresses a full picture of how co-design can make changes in simulation-based maritime education. In this paper, we reflect how…

Critical evaluation and understanding of ship responses in the ocean is important for not only the design and engineering of future platforms but also the operation and safety of those that are currently deployed. Simulations or experiments…

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…

Modelling and simulating the traffic of heavily used but secure environments such as seaports and airports is of increasing importance. This paper discusses issues and problems that may arise when extending an existing microsimulation…

We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…

Modelling and simulating the traffic of heavily used but secure environments such as seaports and airports is of increasing importance. Errors made when simulating these environments can have long standing economic, social and environmental…

Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…

While research in ad hoc teamwork has great potential for solving real-world robotic applications, most developments so far have been focusing on environments with simple dynamics. In this article, we discuss how the problem of ad hoc…

The article considers a simulation modelling problem related to the chess game process occurring between two three-tier manipulators. The objective of the game construction lies in developing the procedure of effective control of the…

Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…

Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…

This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…

This paper considers a cooperative cruise control problem from a predictive control perspective. Online decision-making is used to be executed during the driving process based on the information obtained from the network. We formalize a…

There is a growing demand for simulators for the research and development of maritime autonomous surface ships (MASS) and the approval of autonomous navigation algorithms. Simulators are used for purposes such as evaluation and training and…

In the shipping digitalisation process, the peak will be reached with the advent of a wholly autonomous and at the same time safe and reliable ship. Full autonomy could be obtained by two linked Artificial-Intelligence systems representing…

This paper presents a unified and scalable framework for predictive and safe autonomous navigation in dynamic transportation environments by integrating model predictive control (MPC) with distributed Koopman operator learning.…