相关论文: Autonomous Passage Planning for a Polar Vessel
There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions. At present, AUVs are deployed from ships and directly human-piloted in these regions, entailing a high carbon cost 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…
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…
Ice conditions often require ships to reduce speed and deviate from their main course to avoid damage to the ship. In addition, broken ice fields are becoming the dominant ice conditions encountered in the Arctic, where the effects of…
To meet the urgent requirements for the climate change mitigation, several proactive measures of energy efficiency have been implemented in maritime industry. Many of these practices depend highly on the onboard data of vessel's operation…
Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields,…
In the expeditionary sciences, spatiotemporally varying environments -- hydrothermal plumes, algal blooms, lava flows, or animal migrations -- are ubiquitous. Mobile robots are uniquely well-suited to study these dynamic, mesoscale natural…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
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.…
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…
Autonomous ships are essentially designed and equipped to perceive their internal and external environment and subsequently perform appropriate actions depending on the predetermined objective(s) without human intervention. Consequently,…
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…
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…
Robots such as autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) have been used for sensing and monitoring aquatic environments such as oceans and lakes. Environmental sampling is a challenging task because the…
This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing…
Understanding how decision makers balance operational efficiency with environmental and ecological risks is central to vessel navigation. We model vessel speed as a control variable in a constrained optimization framework in which vessel…
This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…